Ask Your Question
0

What are the recent (newest) FK, IK solvers?

asked 2021-01-09 08:06:37 -0600

MaximN74 gravatar image

updated 2021-01-09 08:22:36 -0600

Hi, colleagues!

Please advise me, what is the newest ROS packages for solving forward and inverse robot arm kinematics. Several years ago I tested OROCOS KDL. Is it actual in using with Noetic?

Particularly, at this moment I'm looking for inverse jacobian velocity control (cartesian velocity back to joints velocities). What me to look for?

Best wishes!

edit retag flag offensive close merge delete

Comments

Particularly, at this moment I'm looking for inverse jacobian velocity control (cartesian velocity back to joints velocities).

wouldn't that be inverse dynamics instead?

gvdhoorn gravatar image gvdhoorn  ( 2021-01-09 10:55:26 -0600 )edit

Generally, yes. But at this moment kinematics is enough.

MaximN74 gravatar image MaximN74  ( 2021-01-10 02:18:27 -0600 )edit

Well it's a rather different bit of functionality. There are quite a few IK solvers with plugins for MoveIt fi, but far less inverse dynamics solvers.

gvdhoorn gravatar image gvdhoorn  ( 2021-01-10 06:34:56 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
2

answered 2021-01-11 08:51:03 -0600

APettinger gravatar image

inverse jacobian velocity control (cartesian velocity back to joints velocities)

Inverse Jacobian velocity control is the exact description for moveit_servo, so you should check that out! If you already have your robot set up with MoveIt, this should be pretty easy to use (also you might already have it installed via apt)

edit flag offensive delete link more

Comments

If you already have your robot set up with MoveIt, this should be pretty easy to use

if you have a driver capable of providing the kind of high bandwidth, low jitter interface servo needs.

gvdhoorn gravatar image gvdhoorn  ( 2021-01-11 09:01:32 -0600 )edit

Thanks, colleagues. Will try.

MaximN74 gravatar image MaximN74  ( 2021-01-11 22:19:58 -0600 )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: 2021-01-09 08:06:37 -0600

Seen: 48 times

Last updated: Jan 11