Hi everyone,
I am using Openrave for a 6 DOF arm and its working fine with the Transform6D.
Now, I am adding an end effector with additional 5 DOF, while doing that I have series of questions, because I can use Openrave planner for the 6 DOF arm and control the end effector using commands separately using my Motion Controller Module, but I want to visualize the end effector movements also.
Questions -
1. How to have separate motions for these end effector joints?
2. How to represent linear joints (ball screw mechanisms)?
3. Is there any such implementation, which I can refer to ?
4. Is there any specific Ik solver for 6 DOF plus 5 DOF ~ 11 DOF arm with end effector?
--/R. Vijay
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Administrator
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Dear Ritukar, I think getting a 11DOF IK solver is going to be very difficult. i recommend separating into 6DOF IK solver, and then 5DOF IK solver. Each manipulator in openrave has its own base link and end effector link, and you can have a manipulator after another manipulator. You can create "prismatic" joint types. Look at the JointType enum.sincerely, 2014-09-29 15:59 GMT+09:00 rvijay <[hidden email]>: Hi everyone, I am using Openrave for a 6 DOF arm and its working fine with the Transform6D. Now, I am adding an end effector with additional 5 DOF, while doing that I have series of questions, because I can use Openrave planner for the 6 DOF arm and control the end effector using commands separately using my Motion Controller Module, but I want to visualize the end effector movements also. Questions - 1. How to have separate motions for these end effector joints? 2. How to represent linear joints (ball screw mechanisms)? 3. Is there any such implementation, which I can refer to ? 4. Is there any specific Ik solver for 6 DOF plus 5 DOF ~ 11 DOF arm with end effector? --/R. Vijay ------------------------------------------------------------------------------ Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Thanks Rosen,
I think I will break the functionality of the complete arm into two - 6 DOF robotic arm and 5 DOF end effector and try it out. One quick question Rosen- >>How should I control my end effector in Cartesian mode? Thanks, Ritukar |
Administrator
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unfortunately, there is no cartesion control module in openrave. you'll have to create your own given the IK functionality. good luck!2014-10-03 18:40 GMT+09:00 rvijay <[hidden email]>: Thanks Rosen, ------------------------------------------------------------------------------ Meet PCI DSS 3.0 Compliance Requirements with EventLog Analyzer Achieve PCI DSS 3.0 Compliant Status with Out-of-the-box PCI DSS Reports Are you Audit-Ready for PCI DSS 3.0 Compliance? Download White paper Comply to PCI DSS 3.0 Requirement 10 and 11.5 with EventLog Analyzer http://pubads.g.doubleclick.net/gampad/clk?id=154622311&iu=/4140/ostg.clktrk _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
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Thanks Rosen!
Thanks for the response! I have separated the two and implemented a different implementation for cartesian mode and it is working perfect :) and it is suits the application, so the task for setting up autonomous control for the end effector is due. |
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