Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

closed-loop inverse kinematics

ik_trajectory_tutorial

asked 2013-04-26 20:13:04 -0500

Rizqa
45 ●16 ●18 ●21

updated 2013-04-26 21:13:04 -0500

Hi ROS fans..

I have made a node that controls ax-12 servo motors by using inverse kinematics algorithm. The result is good.. but I want to improve the performance better. So I Have to use closed-loop inverse kinematics algorithm.. I never try it.. and I want to try it now..

Are there ROS packages which I can learn about closed-loop inverse kinematics ?

Thanks.. I hope someone can help me :)

edit retag flag offensive close merge delete

Comments

for closed-form inverse kinematics, you can use openrave's ikfast compiler. Openrave has wrapper for ROS

cagatay ( 2013-04-27 02:05:58 -0500 )edit

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-04-27 03:02:13 -0500

Jeremy Zoss

4976 ●48 ●48 ●73 http://rosindustrial.org/

You can try following this tutorial to generate an IKFast solution, as suggested by @cagatay. You'll need to create a DAE file from your robot's URDF, and will need to install the openrave software. But, after that, the steps are fairly straightforward.

Note that IKFast is pretty good, but is unable to find solutions for all robot geometries. In particular, it only handles robots with 6 joints; additional joint beyond that must be specified as "free joints". It can handle prismatic joints, but with a few limitations.

Good luck!