I am looking for inverse kinematics library (preferably compatible with ROS) that includes functions to calculate inverse-jacobian to go from end-effector velocity (twist) to joint velocities. I've only found KDL that has this capability but before implementing KDL, I would to see if there is any other options that I can use.

I also saw TRAC-IK but as I see from the source code, it only supports inverse position kinematics.

  • $\begingroup$ How about OpenRAVE's IKFast? $\endgroup$ – Petch Puttichai Oct 16 '17 at 16:55
  • $\begingroup$ Welcome to Robotics kobuki, but I'm afraid that shopping questions really aren't a good fit for a stack exchange site. We prefer practical, answerable questions based on actual problems that you face. Take a look at How to Ask and tour for more information on how stack exchange works, and the Robotics question checklist for details of how to write a good question. $\endgroup$ – Chuck Oct 16 '17 at 17:36
  • $\begingroup$ Have you tried... Googling your question? You have an answer yourself (KDL), and the ROS website itself has a tutorial using IKFast. $\endgroup$ – Chuck Oct 16 '17 at 17:39
  • $\begingroup$ Hey Chuck, thanks for clarification. I wanted to see what are other options are available. @PetchPuttichai I am looking at IKFast now, thanks. $\endgroup$ – robowolf Oct 16 '17 at 18:36