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Finding Forward and Inverse Kinematics of Manipulator

asked 2018-07-09 10:48:11 -0600

Sheby 99 gravatar image

updated 2018-07-09 12:11:47 -0600

Hello I need a help regarding finding forward Kinametics and Inverse kinametics of a manipulator, I shall be thankful if any body can help me in this regard.

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answered 2018-07-09 11:03:28 -0600

Abdu gravatar image

updated 2018-07-09 11:05:07 -0600


Basically, Kinematics explain the motion representation of the joint frame of the manipulator without considering the force and the torque that cause the joint’s motion. Thus, it depends on the robot that you want to find the kinematics, {how many degree-of-freedom / and what are the joints types (revolute/prismatic)}

You will not find a straight forward answer, you should first understand the idea and build your own kinematics.

I recommend you to check some kinematics videos in HERE you will understand the concept behind it, then you will be able to construct the kinematics solutions based on your robot.

I also recommend you to check this book,

Spong, Mark W., Seth Hutchinson, and Mathukumalli Vidyasagar. Robot modeling and control. Vol. 3. New York: Wiley, 2006.

Hope this helps,

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Thank you so much i know how to find forward and inverse kinametics but i need help it doing in ROS

Sheby 99 gravatar imageSheby 99 ( 2018-07-09 11:27:55 -0600 )edit

answered 2018-07-09 12:22:51 -0600


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How can i find Kinametics of Youbot through this thanks for the reply

Sheby 99 gravatar imageSheby 99 ( 2018-07-09 12:48:36 -0600 )edit

If you have a URDF and are running the robot_state_publisher it should be easy to calculate the forward kinematics using tf. KDL can be used for forward/inverse using a URD... might want to check out pykdl_utils for an easy interface.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-09 15:15:30 -0600 )edit

If you are using MoveIt!, trac_ik, bio_ik, and KDL can be used through standard MoveIt! interfaces. Since it sounds like you are just looking at the youBot, you might want to check out this youbot_manipulation package that...

jarvisschultz gravatar imagejarvisschultz ( 2018-07-09 15:17:09 -0600 )edit

contains an IK solution specifically for the youBot.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-09 15:17:24 -0600 )edit

Thank u so much for the reply actually i want to solve this lab I have made the tf listener now i am looking for finding Forward Kinametics and Inverse Kinametics so i need a help in this regard Thanks in anticipation

Sheby 99 gravatar imageSheby 99 ( 2018-07-09 23:50:52 -0600 )edit

If you have a URDF+join_state information+robot_state_publisher you can just query for the transform from the base of your robot to the end-effector of your robot using your listener to get the result of the forward kinematics problem.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-10 10:00:38 -0600 )edit

As you might be getting the sense, there are a lot of kinematics packages and tools out there capable of solving your FK and IK problems, but none of them work without a little bit of work/configuration on your part. We've pointed out quite a few solutions for you...

jarvisschultz gravatar imagejarvisschultz ( 2018-07-10 10:02:19 -0600 )edit

... my advice would be to investigate these solutions to and then ask new questions about specific packages as they arise. I think it is unlikely that someone will just solve your problem for you, and there is no one-size-fits-all answer to this question.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-10 10:04:20 -0600 )edit

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Asked: 2018-07-09 10:48:11 -0600

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Last updated: Jul 09 '18