ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

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!

edit retag flag offensive close merge delete


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

1 Answer

Sort by ยป oldest newest most voted

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.

edit flag offensive delete link more

Question Tools



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

Seen: 209 times

Last updated: Feb 17 '17