Analytical IK for CRX-10iA/L

[simonschmeisser]

These models do not follow the OPW convention (no spherical wrist) and neither follow the "UR" convention so I was wondering if there are any known analytical IK models for this concept? IK-fast is likely an option, I have not tried it yet.

[gavanderhoorn]

IKFast has had (severe) problems with URs in the past, I would not expect it to work OotB for CRXs -- but I'd like to be surprised.

I'm not aware of anything right now -- for ROS or otherwise.

[gavanderhoorn]

Its 180KiB

Oh, lucky. I would have expected several MB of generated functions.

Results are somewhat strange, there are very simple cases with roll == 0 where no solution is found and 0.001° off it finds a strange solution and at > 0.002 result look normal and as expected:

hm.

Let's see what the paper author(s) send you.

[gavanderhoorn]

Did the author(s) already share anything with your @simonschmeisser ?

[simonschmeisser]

Not yet unfortunately. We will start the project with ikfast this week and then see if we can upgrade later

[gavanderhoorn]

@simonschmeisser: have you been able to make any progress? :)

[gavanderhoorn]

Friendly ping?