kinematics-dynamics
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roboticslab-uc3m
Kinematics and dynamics solvers and controllers.
Split from https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/46 and influenced by https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/121, we'd like to tweak another parameter that governs the CMC (`movl` command). Currently, generated trajectories obey a duration value passed by the controller,...
[ICartesianControl.h] Long-term proposal, to merge `movj` and `movl` resulting in something like: ```cpp gotoPose(CartesianInterpolation::MoveJ,xd); ``` More generic Cartesian targets even for drones!
We already have a straight way to calculate forward kinematics: `ICartesianSolver::fwdKin`. This method is useful in two cases: to retrieve instantaneous (static) position in cartesian space, and to close a...
In other words, pre-multiply our chain of homogeneous transformation matrices by H0 (left side, custom world reference frame) and Hn (right side, custom tool reference frame). `KdlSolver` handles this via...
Mostly oriented at the `diffInvKin` method of the `ICartesianSolver` interface.
The [streamingDeviceController app](https://github.com/roboticslab-uc3m/kinematics-dynamics/tree/def2e916dc926f5b88a88188edc8be93bb504845/programs/streamingDeviceController) needs to be updated in order to connect to the new [IJoypadController implementations](https://www.yarp.it/latest/classyarp_1_1dev_1_1IJoypadController.html) of our acquisition devices (https://github.com/roboticslab-uc3m/yarp-devices/issues/265) through [JoypadControlClient](https://www.yarp.it/latest//classJoypadControlClient.html), thus replacing analogsensorclient (to be removed in...
Previous works explained how to solve Pardos-Gotor (PG) subproblems 1 to 4. In José M. Pardos-Gotor, *Screw Theory in Robotics: An Illustrated and Practicable Introduction to Modern Mechanics*, CRC Press,...
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Kinematics and dynamics solvers and controllers.