I am trying to use KDL to do inverse kinematics. However I am not interested in the orientation of the end effector, but only in the location. Is there a way to specify this in KDL? The function CartToJnt only seems to accept a Frame with a rotation matrix. Is there maybe a different way to do this in KDL?

  • $\begingroup$ I am not a KDL user so take this as just a suggestion. Have you tried putting a 3x3 identity matrix in for the rotation submatrix? $\endgroup$ – SteveO Feb 4 at 15:21
  • $\begingroup$ I have considered it, but the identity rotation is also specifies a orientation. Therefor the algorithm tries to optimize using that orientation. And if that orientation cannot be reached the displacement is also less accurate. I want the algorithm to totally ignore the rotation. $\endgroup$ – Frank Feb 4 at 16:48
  • $\begingroup$ Understood. Thanks for replying. $\endgroup$ – SteveO Feb 4 at 16:50

The KDL Ik solver KDL::ChainIkSolverPos_LMA can be construct with a weight matrix. You should be able to solve using only the end effector's target position by setting rotation components weights to 0.


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