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jhavl / robotacademy-code

Code Translations for Robot Academy
MIT License
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Mathworks Inverse Kinematics Solver #9

Open Tjeard0 opened 11 months ago

Tjeard0 commented 11 months ago

Mathworks inverse kinematics doesn't seem to solve for the correct location, it could be due to the different coordinate conventions for the end effector positions accross the different toolboxes.

Example code: 

aik = analyticalInverseKinematics(p560); 
aik.KinematicGroup generateIKFunction(aik,'robotIK');
qs = robotIK(Ts(:,:,end))'

I have narrowed this down to the mathworks robotics toolbox including the base of the robot in its position calculations as every location is skewed downwards. There also appears to be issues with getting the tool to be rotated in the correct position but I was unable to figure this out. It seems that the base of the robot is roughly 0.6 tall so instead of the transform benign [0.4, 0.2, 0] it would be [0.4, 0.2, 0.6] to have it in the equivalent position.

For Videos: cartesian interpolated motion, joint interpolated motion, numerical inverse kinematics, robot arm configuration change, inverse kinematics for a general purpose robotic arm that moves in 3d, denavit-hartenberg notation

Tjeard0 commented 6 months ago

@petercorke would you happen to know what is happening here by any chance?