Workspace exploration from urdf?

asked 2013-08-28 10:22:06 -0500

107 ●11 ●15 ●19 http://arnaudbertrand.com/

Hi.

Is there an easy way or a package to compute forward kinematics from an URDF file? The idea behind is to "explore" the workspace of a robot, plotting reachable points and dexterous area.

As far as I understand the document, TF is for tracking frames. KDL could do the tricks, but did not see if it is possible to use the URDF description of the robot to feed it.

Thanks in advance.

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answered 2013-10-01 11:37:13 -0500

Arn-O

107 ●11 ●15 ●19 http://arnaudbertrand.com/

updated 2013-10-01 11:43:02 -0500

The robot that I used is finally a RRR arm. So I wrote a code in Python that explores all possible solutions of the forward kinematic. That gives a big table (not that big either) and requests on this table are quite fast.

Here is the code on GitHub:

https://github.com/Arn-O/youbot-workspace-explorer

And a plot of the result:

http://zombiebrainzjuice.cc/first-result-youbot-workspace-exploration/

Example of request to solve inverse kinematics:

http://zombiebrainzjuice.cc/kuka-youbot-inverse-kinematics-simplified/

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Hey, has the github repo been moved?

hc ( 2017-05-08 06:26:50 -0500 )edit

Yes, I have removed everything some time at the beginning of the year

Arn-O ( 2017-05-08 06:36:43 -0500 )edit

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answered 2013-10-01 11:48:53 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

Something pretty similar to what you describe is available in the moveit_workspace_analysis package. I´m not sure it is actively developed/maintained (at least compared to the main MoveIt! packages), but it should prove useful when looking at a robot´s workspace.

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The name looks very close to what I'm looking for. I did not find any documentation on the repo ... any idea where to find that? Google did not provide the answer.

Arn-O ( 2013-10-02 01:45:23 -0500 )edit

I fear the documentation is the code itself :) But given the quite good doxygen docs of MoveIt!, it´s quite possible to figure out what´s going on.