KDL for a 21 dof robot
Hi,
I work with the kdl, but i dont know how to determine the angle Limits. Someone an idea?
Thanks
Your question has very limited information on what you actually want to achieve (calculate forward kinematics, inverse kinematics, inverse dynamics, wrenches, twists etc.?). I´d recommend looking at (and possible using) MoveIt!. It provides advanced capabilities or motion planning, but also basic kinematics functionality described here. If you´re more interested in the low level control side of things, this cartesian controller implementation for ros_control demonstrates how you can read a URDF file and initialize KDL objects from it.
As you might have noted, the recommended first step is to generate a URDF model or your robot, as this makes use of KDL (and many other tools in the ROS ecosystem) much easier.
hi thanks for you answer. I find that https://github.com/kouretes/NAOKinematics. I want to calculate the center of mass from the robot. int main(){ NAOKinematics nkin; nkin2.calculateCoMChain((Frames)HEAD, (Frames)(FR_BASE_T+CHAIN_HEAD), HEAD_SIZE, m); sumc=nkin2; summass=m; return 0; } Something is wrong. Someone an idea?
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Asked: 2014-06-16 13:04:52 -0600
Seen: 136 times
Last updated: Jun 17 '14
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