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Published 20 hours ago • verified publisher icon orocos

Joint Limits on Inverse Kinematic solver

Open tmayoff opened this issue 2 years ago • 1 comments
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I'm trying to look for an IK library that's able to take joint limits into account, (for example following limits of a human arm). I saw in the examples page on the docs site this mentioned back in 2009, has this changed does such a solver exist? What would it take to get it implemented, I might be willing to try to do it, although I don't know much about the IK algorithms themselves

tmayoff avatar Nov 30 '22 18:11 tmayoff

I have no experience with this myself, but here is an overview of KDL solvers. I think you're looking for the KDL::ChainIkSolverPos_NR_JL. Possibly also TRAC-IK is relevant.

jrutgeer avatar Dec 14 '22 14:12 jrutgeer