move_to_pose.py result not consistent with book

[qlibp]

Describe the bug move_to_pose.py simulation result not consistent with book. The trajectory is obviously not consistent with the book, fig. 4.14

Expected behavior The trajectory should at least look similar to book's simulation result.

Screenshots

1. Books' simulation result
2. code simulation result(with same param kpho=3, kalpha=8, kbeta=3) Note that I have already consider the case that kbeta_book = -kbeta_code

[us107]

Hi! I'd love to contribute to this issue. Could you please assign it to me?

[AtsushiSakai]

PR is welcome, no need to assignment

[us107]

Thank you so much!

[SupreetKurdekar]

Hi, Id like to contribute to this issue. What book is this or where can I find the simulink model?

Edit: Book is Robotics, Vision and Control by Peter Corke.

I think the implementation is correct. Is there a chance that the gains used in the book do not correspond with the plot shown?