What are the recent (newest) FK, IK solvers?

Question

Hi, colleagues!

Please advise me, what is the newest ROS packages for solving forward and inverse robot arm kinematics. Several years ago I tested OROCOS KDL. Is it actual in using with Noetic?

Particularly, at this moment I'm looking for inverse jacobian velocity control (cartesian velocity back to joints velocities). What me to look for?

Best wishes!

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Originally posted by MaximN74 on ROS Answers with karma: 73 on 2021-01-09

Post score: 0

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Original comments

Comment by gvdhoorn on 2021-01-09:\

Particularly, at this moment I'm looking for inverse jacobian velocity control (cartesian velocity back to joints velocities).

wouldn't that be inverse dynamics instead?

Comment by MaximN74 on 2021-01-10:
Generally, yes. But at this moment kinematics is enough.

Comment by gvdhoorn on 2021-01-10:
Well it's a rather different bit of functionality. There are quite a few IK solvers with plugins for MoveIt fi, but far less inverse dynamics solvers.

Answer 1

inverse jacobian velocity control (cartesian velocity back to joints velocities)

Inverse Jacobian velocity control is the exact description for moveit_servo, so you should check that out! If you already have your robot set up with MoveIt, this should be pretty easy to use (also you might already have it installed via apt)

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Originally posted by APettinger with karma: 118 on 2021-01-11

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by gvdhoorn on 2021-01-11:\

If you already have your robot set up with MoveIt, this should be pretty easy to use

if you have a driver capable of providing the kind of high bandwidth, low jitter interface servo needs.

Comment by MaximN74 on 2021-01-11:
Thanks, colleagues. Will try.