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Jmeyer1292 / opw_kinematics

Closed form IK for parallel base, spherical wrist industrial manipulators
Apache License 2.0
69 stars 26 forks source link

Define rotations for robot pose #70

Closed yvanblanchard closed 2 years ago

yvanblanchard commented 2 years ago

Hello,

I tried to define rotation angles (RPY) for the robot pose (target), but it does not seem to work. Could you please tell me if this syntax is correct or not ?

image

Other question: Please remind me how robot wrist singularities are managed with the library (if the target pose implies robot J5 axis with null value, does the lib supposed to give articular results ?)

Thank you.

Levi-Armstrong commented 2 years ago

What are the results you are getting and what did you expect?

yvanblanchard commented 2 years ago

Sorry, I did a last testing and I had a small error in my code for transferring the angle values. It seems to work fine now with the quaternion form.

Could you also please tell me about wrist singularities ?

Thank you again.

Levi-Armstrong commented 2 years ago

Could you also please tell me about wrist singularities ?

It will provide the solution near zero.

yvanblanchard commented 2 years ago

Thank you for your help!