Hybrid serial-parallel kinematics in KDL

Submitted by tkornuta on Tue, 2009-12-01 12:58

Hello,

I'm new to the Orocos, but I really like the object-oriented design of the KDL, thus I consider its utilization in the SwarmItFIX project. I've tried (but didn't manage) to find the infomation how to represent a hybrid (serial-parallel) manipulator kinematics in the KDT. Our robot will have a 3 dof serial manipulator attached to the top platform of the parallel kinematic machine (which will be placed on the mobile platform, but this is a separate problem). Is there any possibility to model such kinematics in the KDT?

Best regards,

Tomasz Kornuta

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Hybrid serial-parallel kinematics in KDL

Submitted by tkornuta on Tue, 2009-12-01 13:32.

Hello,

I'm new to the Orocos, but I really like the object-oriented design of the KDL, thus I consider its utilization in the SwarmItFIX project. I've tried (but didn't manage) to find the infomation how to represent a hybrid (serial-parallel) manipulator kinematics in the KDT. Our robot will have a 3 dof serial manipulator attached to the top platform of the parallel kinematic machine (which will be placed on the mobile platform, but this is a separate problem). Is there any possibility to model such kinematics in the KDT?

Best regards,

Tomasz Kornuta

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