Definition of the robot

Phylliade / ikpy

An Inverse Kinematics library aiming performance and modularity

http://phylliade.github.io/ikpy

Apache License 2.0

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Definition of the robot #62

Open MarcGondran opened 4 years ago

MarcGondran commented 4 years ago

Hi,

Thank you for your work. I have few questions about the use of this library.

I have concern about the definition of the robot with DH-Table. It seems that the function to crate links with DH-Parameters is not implemented yet. Do you know a way to transform easily DH-Parameters into URDF parameters (Translation_vector, orientation and rotation) ?
My robot is a KUKA KR-100 HA with a 7th prismatic joint. I haven't found a way to define a prismatic joint, is there a solution in your program ? And is the program able to compute inverse solution for redundant robot ?

Thank you very much

Marc

Phylliade commented 4 years ago

Hey,

Conversion from DH to URDF: Never tried it, but there are solutions online, like https://github.com/AdoHaha/DH2URDF. Tell me if this works!
I've just added prismatic joints support in the TODO list,
For the redundant robot, that's a good question: do you have any examples of redondant robot for which we could apply the inverse kinematics?

EDIT: Can you also provide the DH table for your robot?

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

Tanneguydv commented 1 year ago

@MarcGondran I've written some code to resolve the problem of creating a chain link from DH parameters table, see https://github.com/Phylliade/ikpy/pull/143

AdvaitChandorkar07 commented 1 month ago

@MarcGondran Since it is using an iterative method to calculate the angles it should solve for redundant robots though there is no guarantee of optimal solution also you should try to check the solution just in case with forward kinematics. I am not sure about the prismatic joint though, 7R robot should get an inverse kinematics solution