opw_kinematics

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Hello I know that the lib opw kinematics written in Rust (https://github.com/bourumir-wyngs/rs-opw-kinematics) integrates two interesting features: - if previous joint positions are provided, the solutions are sorted by proximity to...

yvanblanchard

Hello Any attempt to port the library for plain javascript (using web assembly) ? For using IK solver from web browser. There are existing interesting IK solver for JS (see...

yvanblanchard

ros_industrial_cmake_boilerplate as system dependency?

3

Question: Why is `ros_industrial_cmake_boilerplate` a source dependency in `dependencies.rosinstall`, and why is 0.3.0 used? I compiled it with ros_industrial_cmake_boilerplate as a system dependency (using `ros-humble-ros-industrial-cmake-boilerplate` 0.4.0) and that seems to...

rjoomen

Add offset wrist inverse kinematics

4

Implement this paper for offset: wrist https://www.researchgate.net/publication/304177638_A_Geometrical_Approach_to_the_Inverse_Kinematics_of_6R_Serial_Robots_With_Offset_Wrists

Levi-Armstrong

Direction of b in the sketch

2

We just had some great confusion party and smoking heads while trying to parametrize a Doosan robot due to the arrow in that graphics for b pointing in the wrong...

simonschmeisser

Parameters from URDF

2

It should be possible to calculate the parameters from the URDF or am I missing something?

machinekoder

KDL computes Jocobian matrix numerically. A analytic Jocobian solver for OPW arm maybe faster.

Linkeway

I included the kinematic parameters from the original paper as examples in this package. Some of these are still untested and are marked rather in-elegantly as "deprecated" so a warning...

Jmeyer1292

Error Qualification

2

A nice feature of the library is that allows you to use floating point precision (instead of double) if you want the extra bits of speed. The cost is accuracy....

Jmeyer1292