Parallel manipulator support in KDL

Submitted by wvteijlingen on Wed, 2011-03-02 11:02

Hello,

We are investigating if it is possible to use the KDL for parallel manipulators; a Delta Robot in our case. Although the definition of the library suggests it does it seems it does not. Someone else stated a similar question http://www.orocos.org/forum/orocos/orocos-users/hybrid-serial-parallel-kinematics-kdl but no answer.

Another (lengthy) discussion i found discussed this item as well http://www.orocos.org/node/735. But at the moment i don't know if i can use KDL for modeling our delta robot; looking in the API i don't think so but correct me if i'm wrong. If you have any other ideas or thoughts on the matter, please share :-)

Thank you

‹ kdl::parser _task_map and musers private ›
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Parallel manipulator support in KDL

Submitted by bruyninc on Thu, 2011-03-03 20:20.

On Wed, 2 Mar 2011, wouter [..] ... wrote:

> We are investigating if it is possible to use the KDL for parallel
> manipulators; a Delta Robot in our case. Although the definition of the
> library suggests it does it seems it does not. Someone else stated a
> similar question
> [http://www.orocos.org/forum/orocos/orocos-users/hybrid-serial-parallel-kinematics-kdl]
> but no answer.
>
> Another (lengthy) discussion i found discussed this item as well
> [http://www.orocos.org/node/735]. But at the moment i don't know if i can
> use KDL for modeling our delta robot; looking in the API i don't think so
> but correct me if i'm wrong. If you have any other ideas or thoughts on
> the matter, please share :-)

There is currently no implementation for a DELTA. But adding it would not
be very difficult :-) Are you thinking about a 3DOF DELTA, or a 6DOF?

Herman

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Parallel manipulator support in KDL

Submitted by wvteijlingen on Sat, 2011-03-05 21:48.

Hello,

[please cc me; i'm not subscribed to the list.]

>
> There is currently no implementation for a DELTA. But adding it would
> not
> be very difficult :-) Are you thinking about a 3DOF DELTA, or a 6DOF?
>

We are currently building a 3DOF DELTA. Could you give any pointers on
how to add support for our delta robot in your kinematics library?

Thanks!

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Parallel manipulator support in KDL

Submitted by bruyninc on Sun, 2011-03-06 10:36.

On Sat, 5 Mar 2011, Wouter van Teijlingen wrote:

> [please cc me; i'm not subscribed to the list.]
Then it might be a good idea to do so :-)

>> There is currently no implementation for a DELTA. But adding it would
>> not
>> be very difficult :-) Are you thinking about a 3DOF DELTA, or a 6DOF?
>>
>
> We are currently building a 3DOF DELTA. Could you give any pointers on
> how to add support for our delta robot in your kinematics library?

Here <http://www.orocos.org/kdl/UserManual/kinematic_solvers> is the
documentation about what interfaces your new solver has to implement.
You also have to define a "kinematic chain" first:
<http://www.orocos.org/kdl-chains>.
Since the Delta architecture is so commonly used for parallel
architectures, it might be very worthwhile to discuss your design on the
mailinglist first, in order to create a result that is as reusable and
flexibly adaptable as possible. But probably also because KDL currently has
not yet an accepted data structure to represent closed kinematic chains...

Herman

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Hello,[tried sending it to

Submitted by wvteijlingen on Sat, 2011-03-05 16:16.

Hello,

[tried sending it to the mailing list but no success :(]

>There is currently no implementation for a DELTA. But adding it would not >be very difficult :-) Are you thinking about a 3DOF DELTA, or a 6DOF?

We are currently building a 3DOF DELTA. Could you give any pointers on how to add support for our delta robot in your kinematics library?

Thanks!

»