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InverseKinematics

The InverseKinematics Library. More...

Compounds
class	IKCCD
class	IKDirectSearch
	This class contains methods for calculating inverse position and velocity solutions for serial manipulators using the Resolved Rate technique. More...
class	IKJacobian
	This class contains methods for calculating inverse position and velocity solutions for serial manipulators using the Resolved Rate technique. More...
class	IKJAvoidLimits
	This class is used to calculate the inverse position solution using a weighting matrix based on the joint limits. More...
class	IKJDLS
	IKJacobian with Damped Least Square (DLS) technique. More...
class	IKJGenerateOptions
	Generates a set of inverse kinematics solutions for redundant serial manipulators. More...
class	IKJReconfig
	Used to calculate the inverse position solution using the active/inactive functionality. More...
class	IKJTranspose
	This class contains methods for calculating inverse position solutions for serial manipulators (especially low DOF manipulators) using the Jacobian Transpose technique. More...
class	IKMitsubishi
	IKMitsubishi Implements a closed form solution for a standard Mitsubishi Robot. More...
class	IKPosition
	IKPosition acts as the base class for inverse position functionality. More...
class	IKPuma
	IKPuma Implements a closed form solution for a standard Puma Robot. More...
class	IKVelocity
	IKVelocity acts as the base class for inverse velocity functionality. More...
class	KinematicsHandler
	KinematicsHandler describes an abstract class for computing the forward and inverse kinematics of serial robot arms. This class also checks for position limits. User should derive a specific class from this or use the GeneralKinematicsHandler class that is derived from KinematicsHandler. This class and dervied classes implement functionality that computes the forward and inverse position solution. It also checks joint travel limits and singularities. Objects of this class will always maintain a valid joint state and the corresponding cartesian state. Inputs that violate position limits or lead to singularities will not lead to an erroneous state of the system. More...
Variables
const OSCARError	IKErrors
const OSCARError	ikDefinitionError
const OSCARError	badLimitsData
const OSCARError	minMOTReached
const OSCARError	maxIterationCountReached
const OSCARError	singularity
const OSCARError	illegalNullSpaceSize
const OSCARError	outOfReach

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Detailed Description

This library contains functionality for calculating inverse position solutions. There are several different inverse kinematics algorithms implemented in this library including: jacobian-based inverse, jacobian-based inverse with active/inactive coordinates, circular descent, direct search, and closed-form puma.

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Variable Documentation

const OSCARError OSCAR::badLimitsData

The joint limits data provided is not in the correct format or is incomplete. The joint limits data provided is not in the correct format or is incomplete.

const OSCARError OSCAR::ikDefinitionError

const OSCARError OSCAR::IKErrors

This error defines the starting point of errors associated with Inverse Kinematics. This error defines the starting point of errors associated with Inverse Kinematics.

const OSCARError OSCAR::illegalNullSpaceSize

The size of null space joints is too large. The size of null space joints is too large.

const OSCARError OSCAR::maxIterationCountReached

During the inverse calculation, the maximum iteration count that was set was reached. This generally indicates a singularity. During the inverse calculation, the maximum iteration count that was set was reached. This generally indicates a singularity.

const OSCARError OSCAR::minMOTReached

During the inverse calculation, the MOT reached the minimum value that was specifed. This generally indicates a singularity. During the inverse calculation, the MOT reached the minimum value that was specifed. This generally indicates a singularity.

const OSCARError OSCAR::outOfReach

The position inverse kinematics calculation fails because the desired handpose is out of the robot's reach. The position inverse kinematics calculation fails because the desired handpose is out of the robot's reach. See also: singularity

const OSCARError OSCAR::singularity

Singularity during the inverse kinematics calculation. Singularity during the inverse kinematics calculation. See also: minMOTReached maxIterationCountReached

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