ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
0

How to perform orientation constrained based Inverse Kinematics in trac_ik

asked 2017-02-17 07:28:53 -0500

ravijoshi gravatar image

The default KDL IK solver is still not robust enough. Hence I am planning to use trac_ik.

Instead of keeping the orientation constant throughout the trajectory, I want it to change within specified limits. My question is how to perform orientation constrained based Inverse Kinematics in trac_ik?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
2

answered 2017-02-20 08:56:24 -0500

kramer gravatar image

I just asked the maintainer on your behalf, who said:

You can't do orientation constraints with the moveit plugin, only when you're using trac_ik_lib directly. As outlined at the bottom of the README, you can specify an orientation (and position) tolerance in the KDL::Twist message provided to ik_solver.CartToJnt(...), which are +/- symmetric.

Hope that helps.

edit flag offensive delete link more

Comments

Can you please answer a related question here?

ravijoshi gravatar image ravijoshi  ( 2018-06-06 10:26:44 -0500 )edit

Question Tools

2 followers

Stats

Asked: 2017-02-17 07:28:53 -0500

Seen: 715 times

Last updated: Feb 20 '17