0
$\begingroup$

I'm currently working on a basic implementation of the RRT algorithm to control my 6DOF robotic arm. But how can I reduce the node to be in the radius of the nearest node of my graph without using the inverse kinematic ? If I use the IK, I'm losing all the informations I had with the joints.

So what is the way to do a "translation" of a joint configuration to have a new one which is in the radius of another joint configuration ?

Improve this question
$\endgroup$
2
  • $\begingroup$ By radius of another configuration, do you mean the distance between the forward kinematics of the original configuration and the new configuration - or the configuration space distance? $\endgroup$
    – domo_arigato
    May 4 at 15:25
  • $\begingroup$ If I correctly understood how it works, I'm talking about the configuration space distance. Currently, what I'm doing is comparing the forward kinematics points, but to keep using joints I have to do an inverse kinematic afterward. So I suppose I should always stay in the configuration space. $\endgroup$
    – Justin M
    May 4 at 16:05

0

Reset to default

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Browse other questions tagged or ask your own question.