KDL IKSolver (Only for Destination Orientation)
I want to use KDL for inverse kinematics calculations of 5 axis CNC machines. 5 axis CNC machines has 2 rotational axis and 3 translational axes.
I am going to define kinematics chain in KDL library and i only care about orietation of tool. The translational axes has no effect for orientation so i can discard them.
Initialy tool orientation vector is 0,0,1. I want tool vector to get parellel to for example vector 1,0,0. How can i get joint variables for this situation?