Supporting 7-axis arm (Crane X7)

[trzy]

Hi Prof. Hannaford,

I've been looking to find a fast IK solver for an open source arm I recently built, the Crane X7 (see here: https://robots.ros.org/crane-x7/). This is a 7-axis arm and it looks like the robot definitions in IKBT are constrained to 6 axes, if I understand correctly. I could probably immobilize one of the axes (perhaps the 3rd one) but it would be nice to be able to employ all of them.

Is this planned for IKBT?

Thank you,

-- Bart

[blake5634]

Bart, Thanks for reaching out. There are no plans for DOF>6 right now. There are great approaches for the problem (see e.g. Yoshikawa's textbook), but they reparameterize the redundant motion in a way that goes beyond the DH formalism so it would not be straightforward to add to IKBT. If you find somebody who wants to try it, LMK and I'll be glad to help. BH

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On Mon, Aug 19, 2024 at 11:59 PM Bart Trzynadlowski < ***@***.***> wrote: Hi Prof. Hannaford, I've been looking to find a fast IK solver for an open source arm I recently built, the Crane X7 (see here: https://robots.ros.org/crane-x7/). This is a 7-axis arm and it looks like the robot definitions in IKBT are constrained to 6 axes, if I understand correctly. I could probably immobilize one of the axes (perhaps the 3rd one) but it would be nice to be able to employ all of them. Is this planned for IKBT? Thank you, -- Bart — Reply to this email directly, view it on GitHub <#50>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABRXOSM4ZL7UIEWUBQDGNEDZSLSMHAVCNFSM6AAAAABMZHQMPOVHI2DSMVQWIX3LMV43ASLTON2WKOZSGQ3TIOBWG4ZDGNI> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

-- Blake Hannaford --