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uts-magic-lab / Magiks

Manipulator General Inverse Kinematic Solver
http://uts-magic-lab.github.io/Magiks/
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License #1

Open donalffons opened 6 years ago

donalffons commented 6 years ago

Hi,

great library :). Am I allowed to use your library in commercial projects?

Thanks -Sebastian

nirasoft commented 6 years ago

Hi Sebastian,

Yes, you are more than welcome to use it! You may need my help for running it. Could you give more information on what project/product you want to use the package for?

Where are you based?

Cheers Nima

donalffons commented 6 years ago

Awesome, thank you!

I'm based in Germany and I'm currently researching how to do automatic trajectory planning for 6 and 7 axis articulated industrial robots... The use case would be 3-dimensional glue application on small parts with re-grasping. I am planning to use the software blender for visualization and things like spline evaluation.

My idea for an algorithm is still quite vague, but it goes something like this:

  1. Manually define the gluing path as a spline
  2. Attach the robot to the end effector at a variable position & orientation
  3. Set the robot into a variable start pose
  4. Move TCP to an an variable starting point along the gluing path
  5. Proceed along the gluing path until a point is unreachable
  6. Mark this point as a re-grasping point
  7. Go to 2 and continue until a working solution is found
  8. Assign some kind of score to the found solution
  9. Find more solutions by channging the variables
  10. Pick the solution with the best score (e.g. minimum number of re-grasps)

Well, yeah, I guess that will not be so easy :). Based on this brief description, do you think that would be in principle possible with this library?

Thanks for reading this until the end :).

donalffons commented 6 years ago

...here is a visualization that I made a while ago: https://tinyurl.com/yawt7kf2 (you have to use Chrome or some other WebGL capable browser. Use WASD keys to move camera, click&drag to rotate camera)

It uses a static TCP. And it's really just an animation that's not respecting axis limitations etc.

Click on "Click A" to start the animation.

awesomebytes commented 6 years ago

Just a far fetched addition:

Why don't you use ROS (with a URDF to define your robot(s), if they are commercial products, they are most probably already done for you). Then you have Rviz for visualization already done for you. And even a gazebo simulation depending on the platform you have.

ROS also has planners (MoveIt with OMPL) and IK libraries (IKFast, trac_ik... This last one I made a python wrapper for it https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_python/ ) it all should work out of the box.

Good luck!

On Fri, Jun 29, 2018, 04:21 Sebastian Alff notifications@github.com wrote:

...here is a visualization that I made a while ago: https://tinyurl.com/yawt7kf2 (you have to use Chrome or some other WebGL capable browser. Use WASD keys to move camera, click&drag to rotate camera)

It uses a static TCP. And it's really just an animation that's not respecting axis limitations etc.

Click on "Click A" to start the animation.

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