Timeline for Implementation of inverse kinematics solution in c++
Current License: CC BY-SA 3.0
11 events
| when toggle format | what | by | license | comment | |
|---|---|---|---|---|---|
| May 4, 2016 at 7:58 | comment | added | James potter | Example can be seen here: giphy.com/gifs/l4HojuDYt0UtdM4Cc | |
| May 4, 2016 at 7:37 | comment | added | ghanimmukhtar | @James potter, sorry I can't get back to you now, but I will do ASAP. | |
| May 4, 2016 at 6:41 | comment | added | James potter | the axis is pointing in the wrong direction.. | |
| May 3, 2016 at 22:19 | comment | added | James potter | So.. I think basically my issue has been that the distance i wanted to travel was too large, and singularities.. So i tried to fix them.. but things still doesn't seem right.. | |
| May 2, 2016 at 20:57 | comment | added | James potter | Moving it to a position with less singularity computes reasonable Q's.. but the trajectory isn't spheric as hoped. ... I think i might be because of the start configuration, and the large displacement it has to make to reach the goal. | |
| May 2, 2016 at 17:47 | comment | added | James potter | hmm... It seems pretty hard to find a start configuration which jacobian doesn't entail in to a singularity...? | |
| May 2, 2016 at 17:19 | comment | added | James potter | The determinant were computed to Determinant: 2.67004e-40... Probably a singularity... | |
| May 2, 2016 at 16:52 | comment | added | James potter | I am not sure how I should compute the difference between rotation vector as a 3 numeric values?... Taking the difference between the two 3d vectors would result in one vector, and not a numeric number describing the rotation from the current state to the desired state. | |
| May 2, 2016 at 16:52 | comment | added | James potter |
Thanks for the feedback. I have been debugging it myself a bit, (After a bit of a break) and found the error with the transform you mention in 1) and dq in3). The library itself is pretty tricky to install, and might tends to be troublesome, I realize in retrospect that a install guide would be have been ideal here.. But yeah. I didn't think anyone would try to run it.. Thanks for trying :). I have been debugging the math (visulizing vectors and such stuff) for the sphere and transform function, and they seem to be correct. I think my error must be due to the way I compute du (...)
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| Apr 27, 2016 at 6:18 | history | edited | ghanimmukhtar | CC BY-SA 3.0 |
added 133 characters in body
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| Apr 26, 2016 at 18:13 | history | answered | ghanimmukhtar | CC BY-SA 3.0 |