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how can i get jacobian matrix in IKfast ?

asked 2016-10-16 22:30:06 -0500

zakizadeh gravatar image

hi ! i need example for jacobian matrix in ikfast and ROS jade. i need example like this page for in ikfast ? : link text

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There should be no difference in how you do this with KDL, LMA or IKFast plugins. Have you tried? What is not working?

gvdhoorn gravatar image gvdhoorn  ( 2016-10-17 01:44:12 -0500 )edit

i need a sample for ikfast . thanks!

zakizadeh gravatar image zakizadeh  ( 2016-10-18 13:01:21 -0500 )edit

i use this page .

zakizadeh gravatar image zakizadeh  ( 2017-12-03 00:48:07 -0500 )edit

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answered 2016-10-18 13:52:22 -0500

gvdhoorn gravatar image

Nothing in the tutorial you linked is solver-specific. I guess the workflow would be:

  • generate an IKFast plugin
  • configure your moveit pkg to use it
  • use the code from the tutorial

That should work regardless of whether you use KDL, IKFast or something else.

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Asked: 2016-10-16 22:30:06 -0500

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Last updated: Oct 16 '16