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| 2015-02-04 05:47:09 -0500 | answered a question | KDL IKSolver (Only for Destination Orientation) Hello Martin, Thanks for reply. I am new robot kinematics. I am working about cnc machine postprocessing and simulation. i see that OpenRave KDL etc has too much than i need. KDL / Ikfast finding solution by iterating however there should be a analytical solution for 2 rotation. Do you know any other solution for 2DOF IK. Also can you suggest me a simple open source library for simulation using opengl? Best regards. |
| 2015-02-03 23:45:17 -0500 | asked a question | KDL IKSolver (Only for Destination Orientation) I want to use KDL for inverse kinematics calculations of 5 axis CNC machines. 5 axis CNC machines has 2 rotational axis and 3 translational axes. I am going to define kinematics chain in KDL library and i only care about orietation of tool. The translational axes has no effect for orientation so i can discard them. Initialy tool orientation vector is 0,0,1. I want tool vector to get parellel to for example vector 1,0,0. How can i get joint variables for this situation? |
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