search

roboticslab-uc3m / kinematics-dynamics

Kinematics and dynamics solvers and controllers.
https://robots.uc3m.es/kinematics-dynamics/
GNU Lesser General Public License v2.1
19 stars 12 forks source link

[AsibotSolver] Apply custom world and tool reference frames #112

Closed PeterBowman closed 1 year ago

PeterBowman commented 7 years ago

In other words, pre-multiply our chain of homogeneous transformation matrices by H0 (left side, custom world reference frame) and Hn (right side, custom tool reference frame). KdlSolver handles this via .ini file.

PeterBowman commented 1 year ago

Sadly, ASIBOT has been decommissioned, so we probably won't ever need this.