Questions tagged [inverse-kinematics]

Inverse kinematics is a subtopic of kinematics dealing with equations that describe the joint parameters necessary to move a robotic arm to a particular position. Also called motion planning.

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Inverse Kinematics for a 2DOF planar robot

I have a simple 2DOF planar robot with this configuration: L1 and L2 are the lengths of my 2 arms. L1 is 245.5mm and L2 is 160mm. Alpha is the first angle (the one of the base) and beta is the second ...
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Question about inverse kinematics for 2 axis gimbal

If I have a 2 axis gimbal (pitch and yaw) and I want to set the camera to a specific inertial orientation (in the world frame), how can I do this? How do I know what to set each motor to achieve this? ...
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Very high position_tolerance with inverse kinematics

I finally managed to make my manipulator work also with Pose Goal using KDL as Inverse Kinematics plugin. The problem is that I cannot in any way go below a certain level of position tolerance (0.12) ...
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Deviation from real vs nominal DH parameters

some time ago, i built an inverse kinematics solver for industrial 6R robot arm. It work fine and i was able to use different robot brands, usually i took the DH parameters from robot's drawing and ...
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Dexterous Workspace

Can anyone please help me understand how I can get the dexterous workspace I know how to obtain the reachable workspace but in 3D I can't see the dexterous, anyone know of any tricks or tips? Would ...
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Arduino Scara Robot inverse kinematics

I am building a simple scara robot using an Arduino Uno with a CNC shield and for that, I programmed a simple library (Here a normal program for testing purposes). I keep getting back NaN so not a ...
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Inverse Kinematics, indicate if multiple soltuions exist using a matrix

I'm trying to practice inverse kinematics and I'm having a really tough time understanding how you can indicate if multiple solutions exist just using a matrix. I also don't know how I would indicate ...
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Is ROS capable of inverse kinematics for a 6 DOF robotic manipulator of general geometry?

If a 6 DOF robotic manipulator does not have a spherical wrist (the axis of rotation of joints 4, 5, and 6 coincide at the same point), the inverse kinematics are incredibly difficult. Is ROS (Robot ...
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OpenRAVE IKFast scipy error

I'm attempting to use the python app pyikfast to generate an analytic solution to my 6 DOF arm. I was able to successfully run the pyikfast solver on the PUMA 560 arm so I know the solver can work. It ...
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IK numerical vs analytical solutions and singularities

Currently I'm using the Robotics-Toolbox python library by Peter Corke to perform inverse kinematics calculations for a 6 DOF (non-spherical wrist) robot arm. I'm using the robotics-toolbox ctraj ...
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Kinematics for tricycle drive robot

I have a tricycle drive robot with propulsion and steering in the front wheel, and the rear wheels are fixed. I want to calculate the robot's steering angle and front wheel velocity from the twist ...
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Biped Kinematics (HTM)

Some notations: IRF: inertia reference frame or world frame CoM: center of mass DoF: degree of freedom [x y z roll pitch yaw] I'm trying to implement the simplest kind of biped walking using 3D ...
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How can I accurately calculate the robot configuration for a desired cartesian position, given manfuacturing discrepancies?

This is a question I have wrestled with for a while now and would appreciate any advice. I am writing an application which allows programming of different 6DOF industrial robotic arms. The output of ...
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Inverse kinematics for an unusual system

I'd like to use inverse kinematics for an unusual system. Basically it looks like this: I have a bunch of small objects (let's say A,B,C,D... which can be modeled as points) connected with revolute ...
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Problem about create IKfast plugin for moveit in ROS noetic and Ubuntu 20.04

According the tutorial from MoveIt website There can't install openrave on ROS noetic, so I use the docker to pull this image from this website I can install this image successly, but I don't know how ...
小舖_Siao Pu's user avatar
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Getting preferred (elbow-up/down) IK solution in PyKDL

I am using PyKDL to compute IK solutions for the UR3e arm. However, as we know, multiple solutions are available for IK of the 6-DoF arm, and I need to identify the preferred one. Industrial arms have ...
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Three finger robotic arm history

I have a picture with robotic arm which comes from lego video (Lego Mindstorms Robotics Invention System 2.0 tour) and I was wondering when and where it was created. Very interesting stuff. It was ...
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What is the preferred approach to derive the kinematics/dynamics of a floating base 3-link robot?

I would like to derive the kinematics and dynamics of a floating planar robot with two leg links and a hip link while the robot is in free-fall (i.e. no ground contact at the "feet"). This ...
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Relationship between Lie Algebra (Murray, Lynch) and spatial vector (Featherstone) approaches

I am curious about the relationship between the Lie algebra/group approach to robot kinematics given by Murray (et al.) in "An Introduction to Mathematical Robotic Manipulation" and Lynch (...
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Issues with cube stacking controller for Panda Robot using Behavior Trees and Task Space Control

I have been working on a controller for a Panda (Franka Emika) robot (simulation, RobotDART and py_trees) and i can't figure out why the gripping mechanism doesn't work correctly. Initially the robot ...
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Motion planning for non-serial chain robotic arms

I am trying to do position motion planning with inverse kinematics for the MeArm model. I followed MoveIt tutorials and was able to achieve what I wanted with their provided robot example. However, I ...
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How to calculate error for inverse kinematics?

I am implementing inverse kinematics on a robot, and I am confused about how to calculate error from my desired pose to my current estimated pose. Both are orocos-kdl frames that consist of a 3x3 ...
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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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Steer to a pose for a differential drive robot

I am working on a diff-drive robot that needs to go and dock into a docking station to charge when the battery is low. The charging socket is on the back of the robot, like a vacuum cleaner, so this ...
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3 DOF Robot's initial position and motion error using inverse kinematic block in Simulink

I am attempting to control a 3-DOF manipulator by providing XYZ waypoints using a signal builder in conjunction with the inverse kinematics block. The robot model has been imported from SolidWorks. ...
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Calculate joint torques in 3 joint RRR mechanism

I don't know if I could upload these things here, but I want solve the following exercise:. I undestand that I should use the following formula: But, I have to solve every joint torque, so how could ...
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Redundancy, Null Space and joint limit avoidance

I am developing a controller for a Franka Emika with 7 DoF. The cartesian motion is working, but I'd like to add some constraints in the joint movement range, with the values described by the ...
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How to control a 4 wheel mechanum wheel robot with PID?

I have a robot with 4 mechanum wheels. I implemented a pid controller on each wheel and as a result it doesn't drive straight. When I send a command to simply move in the x direction forward, it ends ...
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3R Planar robot arm singularity

To find the situation where singularity occurs, the determinant of the Jacobian is used. For the RRR planar robot with angles $q_1$, $q_2$, and $q_3$ and the length $L_1$, $L_2$, and $L_3$ as shown ...
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Ideas on how to create kinematic model of skid-steered rocker bogie mobile robot

I'm trying to derive the inverse kinematics of a skid-steered mobile robot with rocker-bogie mechanism. I learned how to derive the kinematics via transformation matrices as per "Kinematic ...
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Meaning of p(q) in the expression for minimum clearance from obstacle for redundant robotic manipulators

Can somebody who has studied Industrial manipulators or has worked on Industrial manipulators using Jacobian Inverse and Jacobian Pseudo inverse algorithm for Inverse Kinematics please explain what ...
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Inverse Kinematics with SE(3) Target Derivation

Why are there square brackets around [V_b] when deriving it, but not when using it in the update?
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Can MoveIT framework be used separately from ROS, i.e. "as a standalone library"?

As far as I understand, MoveIT can act as a IK/FK solver one can supply input into (i.e. end-effector xyz) and get an output (joint angle values). I'd like to utilize this aspect of MoveIT (version 1) ...
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KDL Inverse kinematic and initial guess

I am using KDL Inverse Kinematic Solver (LMA) for a kinematic chain of 8 DOF. The problem is that the convergence to solution depends on the initial values. I run the algorithm with many initial ...
mj_cipher's user avatar
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What could be the unit ( dimension) of the vectors spanning the Jacobian matrix?

Let the general forward rate kinematics equation for a serial mechanism be given as follows: $$ \begin{bmatrix} \boldsymbol{v} \\ \boldsymbol{\omega} \end{bmatrix} = \begin{bmatrix} \boldsymbol{J}...
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definition of self motion

From my understanding, self motion refers to a set of joint velocities which doesn't cause any cartesian motion on the end-effector. Here, by motion it is meant both linear and angular components or ...
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angle rates wrt another frame

My manipulator has a gyroscope attached to its end-effector (ee). The sensor provides angular velocity in the form of angular rates. Those rates are wrt fixed axis, so they effectively represent roll-...
dcfg's user avatar
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Finding error in euler angle from quaternion

I'm currently working on creating a ROS controller package for franka arm, which I choose to implement a feedback linearization controller that works as following: Assume we have a planned trajectory $...
Heming Huang's user avatar
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UR5e + 2F_85 gripper moveit configuration

Hi everyone, I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver. As I have an attached ...
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Analytical solution to inverse kinematics of 5 dof robot arm

the followings are the equations I worked out for the inverse kinematics of a 5 dofs robotic arm. First of all, the kinematic diagram: For the joint angles $q_{2}, q_{3}$ and $q_{4}$ I resorted to ...
newby_prog's user avatar
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Control a differential drive robot

I have some questions about implementing a mobile robot. I have an old construction mobile robot wherein this robot the main controller has been removed, and I put in its place a Raspberry Pi 4. I ...
BiLLaKoS's user avatar
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How to get transform between two fixed frames using a camera

In my task, I have two manipulators: one 6 dof robot (Manipulator 2 as shown in attached link picture), and one passive arm (Manipulator 1 as shown in attached link picture). Both the frames 1 and 2 ...
Lisa9892's user avatar
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Are there inverse kinematic solvers that accommodate translational joints?

(Disclaimer: I'm fairly new to this topic, so I apologize if I use some incorrect terminology, and corrections are welcome.) Normally inverse kinematics involves a kinematic chain of fixed-length ...
Drake P's user avatar
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Inverse kinematics with curve constraints

I must calculate the inverse kinematics of a machine in which one of the joints is constrained to a curvilinear path. I looked for existing libraries to model the problem, but none of them seems to ...
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Robot increases in length, trying to keep robotic along previous position trajectory

Sorry for the confusing title, this seems to be a difficult problem to concisely describe. I am working on a 50-DOF (yes, 50) robot that is comprised of "elbow macaroni" links that rotate ...
Mark's user avatar
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How to solve this basic dynamics/inverse kinematics problem

Suppose I have a 6-DOF robot arm with revolute joints whose tooltip is at some position $\bf{r_0}$ and I want to move it through some trajectory ${\bf r}(t)$. For simplicity, assume there are just 2 ...
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Solving inverse kinematics with non-linear optimization libraries

Is it a good idea to solve inverse kinematics with non-linear optimization libraries such as Ceres? I've seen examples of Ceres being used to solve IK and it provides elegant, concise solution. But my ...
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this is matlab code for drawing circle by 6dof arm robot but i don't know how to limit the joint's angles

...
Mostafa Mahmoud's user avatar
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Solving pseudo inverse of Jacobian in Matlab/Octave

I'm attempting to create a simulation of a 3 (rotational) DOF robotic arm in 3D space. So far I've had success getting to the Jacobian. What seems to be the issue is that the pseudo inverse of the ...
Karbon14's user avatar
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Inverse kinematics for a 4 DOF arm

I am working with the openMANIPULATOR-X robotic arm and I am trying to implement inverse kinematics for it. I have found this article that talks about kinematic modelling: https://pdfs.semanticscholar....
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