grammar

Author: evan-palmer

ik_solvers/README.md

@@ -1,15 +1,14 @@
 # Inverse Kinematics Solvers
 
-This package implements inverse kinematics solvers for an underwater vehicle
-manipulator system. The solvers are designed to be used in conjunction with
-the whole_body_controllers/IKController.
+This package implements inverse kinematics (IK) solvers for IK
+control.
 
 ## Closed-Loop Task Priority Inverse Kinematics Solver
 
-A singularity-robust inverse kinematics solver proposed by Moe, et al. [^1].
-The solver implements joint limit constraints (using the joint limits defined
-in the robot description) and end-effector pose tracking. The Jacobian
-pseudoinverse is calculated using the damped least squares method.
+A singularity-robust IK solver proposed by Moe, et al. [^1]. The solver
+implements joint limit constraints (using the joint limits defined in the robot
+description) and end-effector pose tracking. The Jacobian pseudoinverse is
+calculated using the damped least squares method.
 
 [^1]: S. Moe, G. Antonelli, A. R. Teel, K. Y. Pettersen, and J. Schrimpf,
 "Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse