Inverse Kinematics with KDL
| Submitted by telvin on Fri, 2010-12-24 21:11 |
Hello,
KDL is relatively new for me and I need to calculate inverse Kinematics for a KUKA-125. I have to calculate always with respect to the angle limits of joints. Can anybody please tell me if there is a method, which I can use for this purpose to limit joint angles, like theta min and theta max?
Best regards,
telvin
Inverse Kinematics with KDL
Submitted by telvin on Tue, 2010-12-28 19:20.
Hello!
Does it means that I just have to install boost and CMake for RTT? In the documentation of RTT under http://www.orocos.org/wiki/rtt/rtt-ms-windows/compiling-rtt-1100-windows... there is a part "Setting up CMake". At this step it is mentioned that the TAO and ACE are to install, this means I need TAO, even I do not use CORBA. I´ve built ACE and TAO_IDL respect to the instructions under http://www.dre.vanderbilt.edu/~schmidt/DOC_ROOT/TAO/TAO-INSTALL.html. But I don´t know what could I have done wrong. Could someone please help me to install TAO?
I´d appreciate all the helps for this problem.
Thanks in advance!
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Orocos-Users [..] ...
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Inverse Kinematics with KDL
Submitted by bruyninc on Tue, 2010-12-28 12:28.
On Tue, 28 Dec 2010, emre [dot] ates [..] ... wrote:
>
Telvin,
>
> *According to the documentation, the "chainiksolverpos_nr_jl" solver
> *computed inverse position kinematics taking into account joint limits:
> *
> *"""
> * * Implementation of a general inverse position kinematics
> * * algorithm based on Newton-Raphson iterations to calculate the
> * * position transformation from Cartesian to joint space of a
> *general
> * * KDL::Chain. Takes joint limits into account.
> *"""
> *
> *Hope this helps,
> *
>> Wim
>
>
>
> Hello,
>
> Thank you very much for all the replies! I´ve read the code of
> chainiksolverpos_nr_jl.cpp and I think it´d help me indeed. As Example, I
> try to get 6 theta angles for my robot according to the coordinates of a
> point with x,y,z,alfa,beta and gamma. The joint 5 is limited with +/- 2.6
> rads and I get as inverse kinematics solution for example 2.95 rads for
> the fifth joint. I think it would be the right way to solve this problem,
> if I limit the joint angles, but now I have a new problem;
>
> After these helpful feedbacks I´ve startet to install KDL for Visual
> Studio 2008. Concerning the Dokumentation I´ve downloaded and built
> boost, ACE and TAO_IDL then tried to build TAO, but it didn´t work. As I
> understood I need ACE and TAO for CORBA and CORBA for RTT.
>
> *According to the documentation, the "chainiksolverpos_nr_jl" solver
> *computed inverse position kinematics taking into account joint limits:
> *
> *"""
> * * Implementation of a general inverse position kinematics
> * * algorithm based on Newton-Raphson iterations to calculate the
> * * position transformation from Cartesian to joint space of a
> *general
> * * KDL::Chain. Takes joint limits into account.
> *"""
> *
> *Hope this helps,
> *
>> Wim
>
>
>
> Hello,
>
> Thank you very much for all the replies! I´ve read the code of
> chainiksolverpos_nr_jl.cpp and I think it´d help me indeed. As Example, I
> try to get 6 theta angles for my robot according to the coordinates of a
> point with x,y,z,alfa,beta and gamma. The joint 5 is limited with +/- 2.6
> rads and I get as inverse kinematics solution for example 2.95 rads for
> the fifth joint. I think it would be the right way to solve this problem,
> if I limit the joint angles, but now I have a new problem;
>
> After these helpful feedbacks I´ve startet to install KDL for Visual
> Studio 2008. Concerning the Dokumentation I´ve downloaded and built
> boost, ACE and TAO_IDL then tried to build TAO, but it didn´t work. As I
> understood I need ACE and TAO for CORBA and CORBA for RTT.
No you don't! _Only_ if you want to have CORBA support.
> There are many
> errors bei build of TAO.What could bring these errors on?(In many of the
> errors: xxxx.h not found! But I´ve downloaded all the code with svn and
> generated the projects with CMake) Now it stucks by the installation!
>
> I would be glad, if somebody could help me!
>
> Thanks in advance and I wish you all a happy new year!
>
>
>
Herman
Inverse Kinematics with KDL
Telvin,
According to the documentation, the "chainiksolverpos_nr_jl" solver
computed inverse position kinematics taking into account joint limits:
"""
* Implementation of a general inverse position kinematics
* algorithm based on Newton-Raphson iterations to calculate the
* position transformation from Cartesian to joint space of a
general
* KDL::Chain. Takes joint limits into account.
"""
Hope this helps,
Wim
On Fri, Dec 24, 2010 at 2:11 PM, <emre [dot] ates [..] ...> wrote:
> Hello,
>
> KDL is relatively new for me and I need to calculate inverse Kinematics for a KUKA-125. I have to calculate always with respect to the angle limits of joints. Can anybody please tell me if there is a method, which I can use for this purpose to limit joint angles, like theta min and theta max?
>
> Best regards,
>
> telvin
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
Inverse Kinematics with KDL
*According to the documentation, the "chainiksolverpos_nr_jl" solver
*computed inverse position kinematics taking into account joint limits:
*
*"""
* * Implementation of a general inverse position kinematics
* * algorithm based on Newton-Raphson iterations to calculate the
* * position transformation from Cartesian to joint space of a
*general
* * KDL::Chain. Takes joint limits into account.
*"""
*
*Hope this helps,
*
>Wim
Hello,
Thank you very much for all the replies! I´ve read the code of chainiksolverpos_nr_jl.cpp and I think it´d help me indeed. As Example, I try to get 6 theta angles for my robot according to the coordinates of a point with x,y,z,alfa,beta and gamma. The joint 5 is limited with +/- 2.6 rads and I get as inverse kinematics solution for example 2.95 rads for the fifth joint. I think it would be the right way to solve this problem, if I limit the joint angles, but now I have a new problem;
After these helpful feedbacks I´ve startet to install KDL for Visual Studio 2008. Concerning the Dokumentation I´ve downloaded and built boost, ACE and TAO_IDL then tried to build TAO, but it didn´t work. As I understood I need ACE and TAO for CORBA and CORBA for RTT. There are many errors bei build of TAO.What could bring these errors on?(In many of the errors: xxxx.h not found! But I´ve downloaded all the code with svn and generated the projects with CMake) Now it stucks by the installation!
I would be glad, if somebody could help me!
Thanks in advance and I wish you all a happy new year!
--
Orocos-Users mailing list
Orocos-Users [..] ...
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
Re: Inverse Kinematics with KDL
Hello!
Does it means that I just have to install boost and CMake for RTT? In the documentation of RTT under http://www.orocos.org/wiki/rtt/rtt-ms-windows/compiling-rtt-1100-windows-native-win32-api there is a part "Setting up CMake". At this step it is mentioned that the TAO and ACE are to install, this means I need TAO, even I do not use CORBA. I´ve built ACE and TAO_IDL respect to the instructions under http://www.dre.vanderbilt.edu/~schmidt/DOC_ROOT/TAO/TAO-INSTALL.html. But I don´t know what could I have done wrong. Could someone please help me to install TAO? I´d appreciate all the helps for this problem.
Thanks in advance!
Inverse Kinematics with KDL
> Does it means that I just have to install boost and CMake for RTT?
You can use KDL without RTT, TAO, etc. I think you only need Eigen and Boost.
Wim
Re: Inverse Kinematics with KDL
>Wim
Hello,
Thank you very much for all the replies! I´ve read the code of chainiksolverpos_nr_jl.cpp and I think it´d help me indeed. As Example, I try to get 6 theta angles for my robot according to the coordinates of a point with x,y,z,alfa,beta and gamma. The joint 5 is limited with +/- 2.6 rads and I get as inverse kinematics solution for example 2.95 rads for the fifth joint. I think it would be the right way to solve this problem, if I limit the joint angles, but now I have a new problem;
After these helpful feedbacks I´ve startet to install KDL for Visual Studio 2008. Concerning the Dokumentation I´ve downloaded and built boost, ACE and TAO_IDL then tried to build TAO, but it didn´t work. As I understood I need ACE and TAO for CORBA and CORBA for RTT. There are many errors bei build of TAO.What could bring these errors on?(In many of the errors: xxxx.h not found! But I´ve downloaded all the code with svn and generated the projects with CMake) Now it stucks by the installation!
I would be glad, if somebody could help me!
Thanks in advance and I wish you all a happy new year!