Hi,

I’m using acados for NMPC in `C`

. I want to formulate the kinematic model of a robot manipulator. I set the state vector `x`

as the joint position and input vector `u`

as the joint velocity. So the system model is linear and quite simple now. I want to minimize the tracking error of end-effector in cost function. Expressing the end-effector state involves a nonlinear function of `x`

.

I am considering two options. The first one is setting algebraic state vector `z`

as the end-effector state and using linear least squares cost function. But it will make the dynamics complex. The other is using a external cost function to express the end-effector state with `x`

and not using algebraic state vector `z`

. I wonder which approach would be more effective for solving this problem.

Thank you.