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How to directly generate inverse kinematics solution?

asked 2018-10-16 19:02:52 -0500

Chris_Liu gravatar image

Hi, I am trying to use solve forword and inverse kinematics for my robot arm. I have a 6 DOF arm and already have the urdf file ready.

My propose is only forward kinematics and inverse kinematics. This is what I want to achieve: 1. Given each joints' angle, output the end effector's position/rotation. 2. Given end effector's position/rotation, compute the angle for each joint.

Can some one give me some hints on a simple way to do it? I am now following the MoveIt! tutorial and try to implememnt FastIK, but I think most of its functions are not needed for me, I do not really need to visulization or do motion planning. Is arm_navigation a better package(I need to change my ROS version to use it)?

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I am using Ubantu 16.04

Chris_Liu gravatar image Chris_Liu  ( 2018-10-16 21:32:44 -0500 )edit

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answered 2018-10-17 02:10:55 -0500

gvdhoorn gravatar image

The IK Fast tutorial shows you how to generate an IK solver as a library. That does not automatically get you "visualisation" or "motion planning".

In the end you have a MoveIt compatible IK solver in a .so file, but you can load that manually and do whatever you want with it.

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Hi, for the IK solver(the .so file), is it generated by fastIK? Thank you so much!

Chris_Liu gravatar image Chris_Liu  ( 2018-10-17 10:13:24 -0500 )edit

Yes. The IKFast plugin generation process generates a C++ source file and a header. You can compile those into a .so file, or directly compile them into your own binary.

gvdhoorn gravatar image gvdhoorn  ( 2018-10-17 12:45:17 -0500 )edit

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Asked: 2018-10-16 19:02:52 -0500

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Last updated: Oct 16 '18