Initial Guess for inverse kinematics

xArm-Developer / xArm-Python-SDK

Python SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.

https://www.ufactory.cc

BSD 3-Clause "New" or "Revised" License

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Initial Guess for inverse kinematics #71

Open alonks1234 opened 1 year ago

alonks1234 commented 1 year ago

Hi, I would like to be able to set an initial guess for the inverse kinematics solver on the xarm. The use case, is that I would like to move from pose to pose and ensure that the solutions to the IK are mutually consistent (6 degree of freedom have redundancy).

If I can set an initial guess, I can use the solution to pose 1 for the start of the optimization for pose 2 and both increase speed and know that the solver will try to find a solution in the joint space vicinity of pose 1.

Thank you

MinnaZhong commented 9 months ago

Hi,

Currently, our IK solution will return the joint angles closest to the current position of the arm. You can try our kinematics libs yourself, it allows users to modify the start point, the parameter is double *q_pre.

And the kinematics libs can return all solutions and set valid joint ranges. https://drive.google.com/drive/folders/1IiDJF3u3V035i-aeb33VEtUO73vHGxUe?usp=sharing

Best regards, Minna