What is KDL Kinematics?
The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc.
What is KDL in Ros?
The Kinematics and Dynamics Library (KDL) defines a tree structure to represent the kinematic and dynamic parameters of a robot mechanism. kdl_parser provides tools to construct a KDL tree from the robot representation in the urdf package.
What is Pykdl?
This is the Python API reference of the Kinematics and Dynamics Library (KDL). KDL offers different kinds of functionality: Geometric Primitives. Vector.
How do I install Orocos?
Installation: the easy way (Linux)
- Make sure that the Ruby interpreter (>=1.8.7) is installed on your machine ruby –version.
- Create and “cd” into the directory in which you want to install the toolchain.
- Save the Toolchain-2.6 bootstrap.sh script in the folder you just created.
- In a console, run sh bootstrap.sh .
Does the KDL kinematics plugin work with LMA (Levenberg-Marquardt) chains?
The KDL kinematics plugin currently only works with serial chains. The LMA (Levenberg-Marquardt) kinematics plugin also wraps around a numerical inverse kinematics solver provided by the Orocos KDL package. It obeys joint limits specified in the URDF (and will use the safety limits if they are specified in the URDF).
What is the kinematics and dynamics library?
The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc.
Does this version of KDL support mimic joints?
* @brief Specific implementation of kinematics using KDL. * This version supports any kinematic chain, also including mimic joints. You can’t perform that action at this time.
How does the cached IK kinematics plugin work?
The Cached IK Kinematics Plugin creates a persistent cache of IK solutions. This cache is then used to speed up any other IK solver. A call to an IK solver will use a similar state in the cache as a seed for the IK solver. If that fails to return a solution, the IK solver is called again with the user-specified seed state.