Inverse kinematics of the Schunk arm


#1

Hello,

I was trying to run an experiment using the Schunk arm. However, I would need the inverse kinematic model to run the experiment.

Has anybody worked with it already? Does anybody know if the company provides the inverse kinematic model with the arm?

Thanks a lot if someone can help me with this!

Cheers,
Ismael


#2

Hi Ismael,

I believe there are a couple of semi-standard ROS tools you can look into to generate your kinematics/IK data, my knowledge might be slightly dated as to what the most cutting edge is though.

The last time I did something similar we used the IKFast package that is based on OpenRave to generate the solvers: http://docs.ros.org/hydro/api/moveit_ikfast/html/doc/ikfast_tutorial.html

But I think this has been combined into the streamlined MoveIt package now: http://docs.ros.org/kinetic/api/moveit_tutorials/html/

that has a nice setup assistant and lots of the older packages for joint teleoperation with a real robot and manipulation based task stuff.

Actually looks like there is a newer/better IK solver: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/trac_ik_tutorial.html

That should hopefully point you in the right direction, we don’t currently install MoveIT in the deployed platform because I don’t think anyone has required it, but it’s super powerful for manipulation based stuff. Let me know if that helps.

Kenny


#3

Hi Kenny,

I found the MoveIt tools yesterday. Now that you confirm its quality I will go for it!
Thank you

Ismael