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URDF Importer - FK & IK Scripts

Discussion in 'Robotics' started by mcevoy-andy, Sep 21, 2022.

  1. mcevoy-andy

    mcevoy-andy

    Joined:
    Feb 3, 2015
    Posts:
    13
    Are these scripts functional and used anywhere?

    Why doesn't `FKRobot.FK()` calculate & return `endEffectorRotation`?

    Could someone explain what `IKRobot.CalcualteDifferential()` is doing? It seems the intent is to calculate the `ds_i / dTheta_i` components of the Jacobian but only the linear velocity components are calculated? It seems this is only a wip?
     
    mcevoy-andy, Sep 21, 2022
    #1

  2. LaurieUnity

    LaurieUnity

    Unity Technologies

    Joined:
    Oct 23, 2020
    Posts:
    77
    LaurieUnity, Sep 21, 2022
    #2

  3. mcevoy-andy

    mcevoy-andy

    Joined:
    Feb 3, 2015
    Posts:
    13
    According to the link you posted and what I see in the code, it seems you have to put the DH parameters in manually if you want to use FK?

    Does the importer not create a model of the robot it can use in FK calculations?
     
    mcevoy-andy, Sep 22, 2022
    #3

  4. JoergHofmann74

    JoergHofmann74

    Joined:
    Oct 31, 2017
    Posts:
    17
    Hi
    could you please tell a little bit more about the ik-solver project and if possible share valid link as I am interested in ik solver of robots.

     
    JoergHofmann74, Jan 12, 2023
    #4

  5. CloudyVR

    CloudyVR

    Joined:
    Mar 26, 2017
    Posts:
    715
    CloudyVR, May 29, 2023
    #5