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Inverse Jacobian Matrix without moveit

asked 2021-01-06 09:19:33 -0600

baklouti-s
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Hello, I want to know please how can I get the jacobian matrix and its inversionvia ROS tools. I have calculated a jacobian matrix and applied the inversion using c++ code and I am getting wrong results. Can you please guide me solving this? I have to get at least a good way to make the inversion of my 6 by 6 jacobian matrix. For the moment, I am using the following code to get the inversion: [https://github.com/bluelul/InverseMat...] Thank you by advance!

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answered 2021-01-12 06:50:49 -0600

MaximN74
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updated 2021-01-12 07:17:13 -0600

Hi!

Several days ago I tried the Orocos-KDL forward and inverse kinematics solvers including inverse velocity (cartesian space to joint space) solver/algorithm. Is your task a robot velocity control? If yes, I will extract and post example of code...

Best wishes, Maxim.

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Hi Maxim, I'm currently also working on velocity control using Orocos-KDL and would highly appreciate that example code you were talking about!

Blaubär ( 2021-01-21 04:59:40 -0600 )edit

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Asked: 2021-01-06 09:19:33 -0600

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Last updated: Jan 12 '21

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Inverse Jacobian Matrix without moveit