Closed elenacliu closed 5 months ago
Besides, what is the difference between ik
and ik_full
?
Hi,
the provided IK is analytical and derived geometrically in this paper. By fixing the redundant joint, the algorithm finds all solutions (i.e. different cases such as elbow/wrist up/down). The ik
function will return the joint configuration that is case-consistent with the provided current joint configuration (so there will be no "jumps" if you use this function to compute a trajectory for instance). ik_full
however will return up to 4 different solutions (the different cases). Additionally, I've chosen the default value for q_7
such that it's the robot's "natural" starting position, i.e. located far away from the joint limits.
Thank you for your reply. By the way, will you support some other solutions? For example, some numerical solutions?
I'm currently not planning to implement other IK methods. However, both the robotics toolbox for python as well as the dqrobotics library include numerical IK for the Panda that can be easily used together with panda-py.
hello, thank you very much for your work! I have tried it and it is so impressive! But I'm a little confused why in your
ik
function,q_7
is redundant joint? If it is only 6-DoF indeed, some waypoints may generate nan results. It can solve ik successfully if we do not fix the value ofq_7
.