Ask Your Question
2

Using IKFast for Denso [closed]

asked 2015-07-29 04:18:17 -0500

MahsaP gravatar image

updated 2015-10-13 08:01:15 -0500

Hi,

I have loaded denso robot into Gazebo with a camera attached to its end-effector. You can see my files here.

Now, I have the robot end-effector command in the Cartesian space (x, y, z, theta(orientation around z axis)). I want the Jacobian matrix to transform the command I mentioned to obtain joints velocity. After that by integration I will have joints position and I can input these positions to the desired robot configuration.

My question is how to use IKFast from here to get the Jacobian matrix. Is it possible?

I don't know whether it is correct or not. As I understood, I need something like this page.

The distro of my ROS is indigo running on Ubuntu 14.04.

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by MahsaP
close date 2015-10-08 15:48:08.325688

1 Answer

Sort by ยป oldest newest most voted
1

answered 2015-08-20 12:43:54 -0500

130s gravatar image

updated 2015-10-09 00:55:54 -0500

Given that denso vs060 package already comes with ikfast plugins, you could try swapping kinematics setting accordingly, something like the following in vs060_moveit_config/config/kinematics.yaml:

- kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver: vs060A1_AV6_NNN_NNN_manipulator_kinematics/IKFastKinematicsPlugin

I haven't tested so let me know how this works.


UPDATE) I'm getting to understand your situation better now that I've taken a look at your code. Maybe you should describe all the commands you use to run all the processes (by editing your original post), since I couldn't figure out how you run your IKFast plugin nor how you pass setpoint to the controller.

edit flag offensive delete link more

Comments

@i30s Thank you for your answer. Before you answered me, I had included files within my other packages from denso/vs060A1_AV6_NNN_NNN_arm_navigation/src/.

MahsaP gravatar imageMahsaP ( 2015-09-03 09:02:46 -0500 )edit

However, I still have a problem. Because when I include these files and set the setting for the cmake files I receive some errors and it cannot find the libraries related to these cpp files.

MahsaP gravatar imageMahsaP ( 2015-09-03 09:03:56 -0500 )edit

Would you please help me how to do that? If it is necessary, you can reach my files from gazebo_ros_denso/

MahsaP gravatar imageMahsaP ( 2015-09-03 09:06:03 -0500 )edit

@130s Thank you for your suggestion. Now I have set the IKFastKinematicsPlugin. Do you know how I can use this plugin with Gazebo (I mean how to edit my launch file)?

MahsaP gravatar imageMahsaP ( 2015-09-28 18:20:56 -0500 )edit

I think you've asked a new question (which is a good usage of this website :)) about IKFast and Gazebo http://answers.ros.org/question/21882... so this question might be worth closed?

130s gravatar image130s ( 2015-10-08 15:30:27 -0500 )edit

Ok. I will close this question.

MahsaP gravatar imageMahsaP ( 2015-10-08 15:47:19 -0500 )edit

Question Tools

2 followers

Stats

Asked: 2015-07-29 04:18:17 -0500

Seen: 288 times

Last updated: Oct 13 '15