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Found 4 results

  1. lr101095

    Sawyer Path Planning

    Just wanted to ask if anyone would be able to suggest a method of path planning for sawyer (both in application and in simulation). There is no collision avoidance as of yet and is not yet necessary for what i'm trying to achieve. i just wanted to be able to dictate the path of the robot between two points (initial end-effector location and desired location, including end-effector orientation). I know MoveIt does have a path planner but i'm not sure how to use it. To my understanding, MoveIt is able to plan a trajectory between two poses and execute the calculated trajectory, of course considering joint limits etc. I want to be able to determine a path just by inputting the xyz and normal of a point. For example, I want to be able to move the end-effector to a surface (such as a a table surface) and have the end-effector's z-axis parallel to the normal of surface. Assuming that the xyz (global frame) of the table point is known, i want to be able to control sawyer to move from an arbitrary start point and move to the desired location with the desired orientation. Because of what i need help with, can someone also provide an explanation for how inverse kinematics would work with sawyer? i know there is the IK Service example that involves ik_service_client and SolvePositionIK. But i dont really understand what is going on in that example nor what it does. Any help would be much appreciated. Cheers, Luke
  2. lr101095

    sawyer inverse kinematics

    trying to write a program that subscribes to the endpoint states of sawyer through rostopics. i've opted to subscribe to each individual endpoint_state value. my program is based around ik_service_client, hence why i decided to subscribe to the individual values. I have the following: sub_p1 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/x", String) sub_p2 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/y", String) sub_p3 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/z", String) sub_q1 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/x", String) sub_q2 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/y", String) sub_q3 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/z", String) sub_q0 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/w", String) poses = {'right': PoseStamped( header = hdr, pose = Pose( position = Point( x = sub_p1, y = sub_p2, z = sub_p3, ), orientation = Quaternion( x = sub_q1, y = sub_q2, z = sub_q3, w = sub_q0, ), ), ), } However, as a test, i print "poses" and i get the following output: pose: position: x: <rospy.topics.Subscriber object at 0x7fe9f9c31c50> y: <rospy.topics.Subscriber object at 0x7fe9f9c31d50> z: <rospy.topics.Subscriber object at 0x7fe9f9c31d90> orientation: x: <rospy.topics.Subscriber object at 0x7fe9f9bd7050> y: <rospy.topics.Subscriber object at 0x7fe9f9c31e10> z: <rospy.topics.Subscriber object at 0x7fe9f9bd7710> w: <rospy.topics.Subscriber object at 0x7fe9f9bd79d0>} How am i able to print/access the actual data so i have an output of actual numbers that i can then pass on to perform inverse kinematics? I'm not sure if i'm using the correct data type (i.e. String or otherwise) to pass on the values. any corrections, suggestions or solutions would be much appreciated. - Luke
  3. lr101095

    SolvePositionIK and Transformations

    Can someone please explain how SolvePositionIK works in terms of path planning? I want to know how to solve for a trajectory by inputting the point position (and maybe orientation) in order to achieve a desired pose related to the reference point. I'm using a kinect in simulation to scan the environment. So I want to be able to take a point from the camera frame and calculate the position in the global frame so that the transformation required for IK to solve for the pose cam be derived. Can anyone also suggest a way of achieving that? Thanks in advance - Luke
  4. Kenny van Kampen

    Kinematic equations

    Dear reader, I am testing out some software (RoboDK) for our Sawyer robot however, our robotic arm is not in their library. I've approached the company and they are willing to add the robot as long as I give them the kinematic equations, CAD model and a data sheet. I've found the CAD model and the data sheet already however, I can't find the kinematic equations on the website. I will be grateful is someone could help me or send me this information. Best , Kenny