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Published 20 hours ago • verified publisher icon Jmeyer1292

Add offset wrist inverse kinematics

Open Levi-Armstrong opened this issue 5 years ago • 4 comments

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 avatar Aug 07 '19 19:08 Levi-Armstrong

Are you looking at this to get solutions for setups tool frames configured?

If so: can you provide an example where transforming poses back to the tip of the kinematic chain doesn't work? That isn't hard to implement and avoids needing to change the solver.

O, wait. Just read the abstract. It's about kinematic setups that don't conform to the spherical wrist setup needed for plain OPW.

gavanderhoorn avatar Aug 08 '19 06:08 gavanderhoorn

The robot arm we have here has an X/Y offset on J4, I suppose the solution proposed in this paper would work for this type of robot?

machinekoder avatar Oct 19 '20 11:10 machinekoder

Are those non-spherical wrist configurations supported now ?

yvanblanchard avatar Jul 06 '22 19:07 yvanblanchard

Not by this library yet.

Levi-Armstrong avatar Jul 06 '22 20:07 Levi-Armstrong