Define non controllable joints for ikmodel

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Define non controllable joints for ikmodel

sirop
Hello.

My robot is pretty simple: Baselink -> Link1 -> Link2->Link3->Link4->Link5
with the corresponding joints:
J1(Baselink, Link1) -> J2(Link1,Link2)->J3(Link2, Link3)->J4(Link3, Link4)->J5(Link4, Link5)

I defined my manipulator as:

<Manipulator name="camManip">
 <base>BaseLink</base> 
 <effector>Link5</effector> 
 <Translation>0.25701790735654674 -0.04068486465018805 0.0</Translation>     
 <direction>0 0 1</direction> 
</Manipulator>


ikmodel = databases.inversekinematics.InverseKinematicsModel(robot, iktype=IkParameterization.Type.Lookat3D)
ikmodel.autogenerate()


seems to be accepted.

However, J1 and J2 are not controllable as they perform rather erratic movement, and J3,J4,J5 have to compensate this erratic movement.

How shall I put this info into ikmodel?
Is it about freejoints or freeind?

Thanks.

boris
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Re: Define non controllable joints for ikmodel

sirop
This post was updated on .
I stopped looking for symbolic solution as without precalculating the reachability space the targets I set are not always exactly reachable, and then I get either no or too many solutions ( more than 1000).

Inverting Jacobian however yields pretty good results.