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This is the quad requested trajectory
Then the script call the inverse kinematics function that generates, starting from the end effector positions, the motion profiles for the actuators. The inverse kinematic function is a mathematical representation of the kinematic behaviour that characterize our system. The better and more complex teh inverse kinematics function is, the smaller will be the error between the desired position/orientation of the strongback compared with the actual one. A very simple model that doesn't keep in consideration the cross talks between the vertical and the horizontal axes can be written as:
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