Ask Your Question
0

Inverse Jacobian Matrix without moveit

asked 2021-01-06 09:19:33 -0500

baklouti-s gravatar image

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!

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted
0

answered 2021-01-12 06:50:49 -0500

MaximN74 gravatar image

updated 2021-01-12 07:17:13 -0500

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.

edit flag offensive delete link more

Comments

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 gravatar image Blaubär  ( 2021-01-21 04:59:40 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2021-01-06 09:19:33 -0500

Seen: 92 times

Last updated: Jan 12