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What is the correct IK solver type for a 3DOF leg?

asked 2015-03-15 15:51:24 -0600

auldwin1 gravatar image

updated 2015-03-15 22:03:57 -0600

I've been trying to experiment with IKfast with a simple 3DOF arm I made. But I'm not sure which IK solver type to use. The types are stated here: http://openrave.org/docs/latest_stabl... I've been following this tutorial : http://moveit.ros.org/wiki/Kinematics... , and it seems like it only works when I use the rotational3d type, but the results are horrible and I'm pretty sure that the type is the problem. If I try to use other types such as the "transform3d", I get a "no variable to solve" error.

I'd just like to have more details on what these types mean and if I'm using the correct type. The descriptions they have on that page isn't clear to me and I couldn't find anything on google.

The arm looks like this: http://imgur.com/44k5Ki6 The arm revolves around the vertical cylinder, the two horizontal cylinders on the left can move up and down. This is probably a better picture. http://imgur.com/U3JOGVJ

Many thanks.

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answered 2015-03-28 15:44:19 -0600

auldwin1 gravatar image

Just to update this question, I eventually used 3D translation and it works a dream.

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Asked: 2015-03-15 15:48:39 -0600

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Last updated: Mar 15 '15