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# Questions tagged [arm-kinematics]

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### What should be the correct direction of X-axis assigned to a joint frame as per DH convention?

I am working on the kinematics diagram of a 6DOF Kuka KR210 serial manipulator. I am trying to assign frames to each joint as per the DH convention. I found a tutorial online where they are using DH ...
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### Help with clarifying UR10e center of mass

I'm doing an assignment related to the Universal Robot UR10e robot for a robotics class. I have to use the center of mass of each link to solve the problem. I found the information on the link below (...
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### Finding shoulder joint orientation

Ok so I have been trying to find out shoulder joint angles from a kinect RGB-D camera.My end goal is to acquire these angles to feed them to a robotic arm (7DoF - 3 shoudler 1 elbow 3 wrist) and ...
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### Inertia for robot: Calculate by hand

Hi there, just for my understanding. Could you tell me, if I'm right with my thinking: If i want to setup my urdf robots inertias i just have to set the robots inertias main diagonal elements. If my ...
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1 answer
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### Closing kinematic loop with trac_ik

Hello List, Creating simulation of a rower in a boat using ros, gazebo and trac_ik. There are three kinematic loops in the robot's description. This cannot be described in URDF, so they should be ...
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### Identification of kinematics of industrial robots

Hi, I am looking for a way to identify (or calibrate) the kinematic information (Joint angle and robot frame offsets) of my 6-DOF industrial robot. I am aware of the packages robot_calibration and ...
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### Please help me understand origin in URDF

Hi folks, I have been following the book Programming Robots with ROS and have been struggling with how the origin tag means in URDF files. In the chapter 18, there is a snippet of URDF as the ...
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### ROS package for 4-DOF Arm

I am looking at making my own 4 DOF arm. I see that there was a package "move_arm" that handled motion planning and servo control for an arm, that was made for ROS Groovy. Would there be any ...
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### How to get IK response for user provided pose in MoveIt(Baxter)

Below is the code snippet of ik_service_client.py provided for Baxter SDK ...
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### Best way to get FK for many different joint-states

Hello! I am trying to calculate the end-effector pose for a huge amount of different JointStates. The two ingredients to do that are my URDF and the numpy array that contains the joint angles. I am ...
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1 answer
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### Extract DH Parameters From URDF File

Hello, I have a URDF file of which content is like below. And I want to extract DH parameters from this file. Could you help me? ...
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### Finding the relative pose of a robot gripper

I have a robot arm with a gripper. I know the gripper pose (relative to the robot base coordinate system) at any moment. At startup, I record the pose of the gripper and set this as the original pose <...
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### Electric get_fk forward kinematics fails simple test

Hello ROS Gurus, I am trying to get the new Electric arm navigation stack working on a pair of custom 6-dof Dynamixel arms (see pi_robot description). The planning wizard worked like a charm and I ...
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### arm_navigation stack

I'm fairly new to ROS and especially the arm_navigation stack and was just wondering if there's a simpler method to determine the inverse kinematics of a custom/undefined manipulator than described in ...
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### How to use arm_kinematics package?

As i am new to ROS platform i need some guidance to use arm_kinematics package for solving FK and IK for basic 5 DOF. In order to understand this package i followed the pr2_kinematics tutorials. But i ...
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### Arm_navigation/kinematics for simple arms

Hi everybody, I'm currently working with the arm_navigation suite in combination with a 7 DOF manipulator. Now, I would like to make it work with a much simpler manipulator, in my case with 2 DOF. ...
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### Will urdf_tools (with its arm_kinematics package) be promoted to a first-class stack?

I've recently started to use the urdf_tools stack for the arm_kinmatics package. I'm wondering if this is in line to become a first-class stack that will be placed in the repositories. Is urdf_tools (...
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### Using arm_kinematics, Inverse Kinematics Calculations fail

I've been going through the PR2 Kinematics tutorials, but using our own arm (http://www.ros.org/wiki/pr2_kinematics/Tutorials) and I've encountered a problem. Using arm_kinematics (http://www.ros.org/...
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### Problem with parameters with arm_kinematics

Dear List, First some specs: os: ubuntu 10.10 ros version: ros-cturtle-base 1.0.0-s1297419884~maverick arm_kinematics version: wu-ros-pkg - Revision 40: /stacks/urdf_tools/trunk/arm_kinematics URDF ...