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Using IKFast for Denso [closed]

asked 2015-07-29 04:18:17 -0600

MahsaP gravatar image

updated 2015-10-13 08:01:15 -0600


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.

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

1 Answer

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answered 2015-08-20 12:43:54 -0600

130s gravatar image

updated 2015-10-09 00:55:54 -0600

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.

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@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 image MahsaP  ( 2015-09-03 09:02:46 -0600 )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 image MahsaP  ( 2015-09-03 09:03:56 -0600 )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 image MahsaP  ( 2015-09-03 09:06:03 -0600 )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 image MahsaP  ( 2015-09-28 18:20:56 -0600 )edit

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

130s gravatar image 130s  ( 2015-10-08 15:30:27 -0600 )edit

Ok. I will close this question.

MahsaP gravatar image MahsaP  ( 2015-10-08 15:47:19 -0600 )edit

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Asked: 2015-07-29 04:18:17 -0600

Seen: 400 times

Last updated: Oct 13 '15