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KDL IKSolver (Only for Destination Orientation)

asked 2015-02-03 21:11:22 -0600

Kadir Canik gravatar image

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?

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answered 2015-02-04 04:56:10 -0600

I don't know whether KDL can do IK with less than 6 DoF; I've had good results using OpenRAVE's ikfast module for that (with the TranslationDirection5D plugin type).

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I know that at least some of KDLs IK methods do support chains with less than 6 DOF. I've used pydl_utils several times for 2, 3, and 5 DOF manipulators.

jarvisschultz gravatar image jarvisschultz  ( 2015-02-04 07:41:04 -0600 )edit

I believe the inverse method in pykdl_utils eventually calls KDL's general Newton-Raphson IK solver

jarvisschultz gravatar image jarvisschultz  ( 2015-02-04 07:42:21 -0600 )edit

Good to know, thanks!

Martin Günther gravatar image Martin Günther  ( 2015-02-05 04:35:41 -0600 )edit

answered 2015-02-04 05:47:09 -0600

Kadir Canik gravatar image

Hello Martin,

Thanks for reply. I am new robot kinematics. I am working about cnc machine postprocessing and simulation. i see that OpenRave KDL etc has too much than i need. KDL / Ikfast finding solution by iterating however there should be a analytical solution for 2 rotation.

Do you know any other solution for 2DOF IK. Also can you suggest me a simple open source library for simulation using opengl?

Best regards.

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KDL iterates, but IKFast actually generates C++ code that computes an analytical solution. I initially thought you were interested in all 5 DoF, but you're right, for 2 DoF it should be easy to do by hand. Better ask a separate question about the OpenGL thing.

Martin Günther gravatar image Martin Günther  ( 2015-02-04 06:12:53 -0600 )edit

Oh, and better use the "comment" function instead of posting an answer in cases like these.

Martin Günther gravatar image Martin Günther  ( 2015-02-04 06:13:36 -0600 )edit

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Asked: 2015-02-03 21:11:22 -0600

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Last updated: Feb 04 '15