Comments (6)
glumb
commented on June 8, 2024
Thanks ๐ To which part of the code are you referring? Is it InverseKinematic.js?
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i-make-robots
commented on June 8, 2024
Yes very much so. We have a project at
https://github.com/MarginallyClever/Robot-Overlord-App that needs better IK
and so we're trying to learn from your code.
โฆOn Mon, Jun 3, 2019 at 10:15 AM Maximilian Beck ***@***.***> wrote:
Thanks ๐ To which part of the code are you referring? Is it
InverseKinematic.js?
โ
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i-make-robots
commented on June 8, 2024
more specifically, https://github.com/MarginallyClever/Robot-Overlord-App/blob/master/src/main/java/com/marginallyclever/robotOverlord/dhRobot/DHIKSolver_RTTRTR.java is where we do our IK. I have the robot base and a matrix describing the TCP, but when I calculate the joints I often get flips and inconsistencies that I don't see in your design. Trying to find out what I'm doing wrong.
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glumb
commented on June 8, 2024
Nice ๐
Did you have a look at https://github.com/glumb/kinematics/blob/master/README.md? The readme has some images depicting the joint names.
Be aware that the robot-gui uses an updated version of kinematics.js
Basically I used a geometric approach for the inverse kinematics. I have some drawings regarding calculations which I can share around next week.
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i-make-robots
commented on June 8, 2024
Ah, I was at https://github.com/glumb/robot-gui which didn't link back to
https://github.com/glumb/kinematics
โฆOn Mon, Jun 3, 2019 at 10:26 AM Maximilian Beck ***@***.***> wrote:
Nice ๐
Did you have a look at
https://github.com/glumb/kinematics/blob/master/README.md? The readme has
some images depicting the joint names.
Be aware that the robot-gui uses an updated version of kinematics.js
Basically I used a geometric approach for the inverse kinematics. I have
some drawings regarding calculations which I can share around next week.
โ
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glumb
commented on June 8, 2024
Indeed there is room for improvement ๐
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Related Issues (10)
- images
- add about menu link to the github repo?
- Ask for help with reading local device data on a web page.
- Ask for help about monitoring variable data changes
- Move in World Coordinate HOT 1
- About TCP rotating XYZ HOT 4
- update package.json to be npm compliant
- Max/min angle rotate with joint, should stay relative to parent? HOT 2
- Urgent help!--'action๏ผstate๏ผdisptach๏ผlisten...' HOT 3
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