Question: for iter = 1 :max _ iter p _ cur = FK ( q ) ; % Calculate current end - effector position error =

for iter =1:max_iter p_cur = FK(q); % Calculate current end-effector position error = p_des - p_cur; % Compute the error between desired and current position .It should be very detail, and should include your initial code/manual before applying any techniques. For each technique/step, you should explain why you applied it and how the code was transformed as I showed you in the slides.

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