Defining a robot arm in orocos.

Submitted by snehatalekar on Fri, 2010-10-08 18:32

Hi, I am using OROCOS for my project -Intelligent robotic arm. I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?

‹ logging in 2.0 index operator for datatype with containing fixed-size carray segfaults ›
»

Defining a robot arm in orocos.

Submitted by bruyninc on Sat, 2010-10-09 10:32.

On Fri, 8 Oct 2010, talekarsneha8 [..] ... wrote:

> I am using OROCOS for my project -Intelligent robotic arm.
> I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?

The KDL approach means that you use C++ to construct a chain data structure
for runtime use; XML is used for "persistent storage" of information. So
both are _complementary_ approaches. Expect to see some new progress in the
coming monhts on the XML front as far as kinematic chains are concerned,
via the adoption of COLLADA 1.5 for persistent storage of kinematic chain
data structures.

Herman

»

Defining a robot arm in orocos.

Submitted by Steven Bellens on Sat, 2010-10-09 06:52.

2010/10/8 talekarsneha8 [..] ... <talekarsneha8 [..] ...>:
> Hi,
> I am using OROCOS for my project -Intelligent robotic arm.
> I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?

You can build your arm using a KDL::chain
(http://people.mech.kuleuven.be/~orocos/pub/devel/kdl/latest/api/html/cla...).
For example:

chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.31))));
chain.addSegment(Segment(Joint(Joint::RotY),Frame(Rotation::RotZ(M_PI),Vector(0.0,0.0,0.200))));
chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.200))));
chain.addSegment(Segment(Joint(Joint::RotY),Frame(Rotation::RotZ(M_PI),Vector(0.0,0.0,0.200))));
chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.190))));
chain.addSegment(Segment(Joint(Joint::RotY),Frame(Rotation::RotZ(M_PI))));
chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.0))));

Steven

> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

»

Defining a robot arm in orocos.

Submitted by snehatalekar on Fri, 2010-10-08 18:36.

Hi,
I am using OROCOS for my project -Intelligent robotic arm.
I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?

»