search

Phylliade / ikpy

IKPy, an Universal Inverse Kinematics library
http://phylliade.github.io/ikpy
Apache License 2.0
757 stars 154 forks source link

How to use ikpy together with any other path planning algorithm to achieve obstacles avoidance? #133

Open johnlim00 opened 1 year ago

johnlim00 commented 1 year ago

Currently working on a project of simulating autonomous robotic arms. I wonder is it possible to do it by using ikpy in my obstacles avoidance algorithm. Im able to use ikpy to move my ur5e robotic arms to the target object, but i wanted to make the arms automatically avoid any obstacles (if there's any) and reach the target object. Still stucked at the obstacles avoidance part, is there any tips or solution for this?

gurselturkeri commented 1 year ago

Hi, how did you do set goal and arms moving to goal? Also for obstacles avoidance maybe you can use lidar sensor.

Phylliade commented 1 year ago

Hello @johnlim00 !

IKPy's general philosophy is to be a low-level ik library, that can be used in higher levels trajectory/path planning algorithms, so your point makes sense!

The general approach is to cut your trajectory into multiple keypoints, in order to avoid the obstacles, and then use IKPy do the IK for you between the different keypoints

See more info here:

129