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ros3djs Inverse kinematics

asked 2016-09-20 04:01:42 -0500

Kavita Krishnaswamy gravatar image

Hi Everyone,

I am new to ROS. I have a simple three link robotic arm, and I would like to find the inverse kinematics for the joint angles.

I already have the URDF. I want to click in a 3D space in the web browser widget and the end effector should point to that location.

Are there any tutorials on how to do this?

Thank You!

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You would like the end effector to reach that 3D space, or be pointing to it (outside of reach)? Both very different problems.

JoshMarino gravatar imageJoshMarino ( 2017-02-18 08:51:50 -0500 )edit

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answered 2017-02-17 09:45:58 -0500

T045T gravatar image

MoveIt! is a popular choice for inverse kinematics. Take a look at the documentation. The tutorials there will help you to configure a solver and use RViz for controlling your arm.

Once that's working, it's just a small step to use InteractiveMarkers in ros3djs to do the same from a web browser.

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Asked: 2016-09-20 04:01:42 -0500

Seen: 64 times

Last updated: Feb 17 '17