fanuc_IK.world File Reference

Detailed Description

A inverse kinematic (IK) problem with a fanuc M430ia2p robot. The CuikSuite tools can be used to solve this IK problem by first generating the equations

• bin/cuikequations examples/ROSIndustrial/fanuc_IK.world

and then using the cuik solver

• bin/cuik.c examples/ROSIndustrial/fanuc_IK.cuik

The 4 solutions can be visualized executing

• scripts/cuikplayer examples/ROSIndustrial/fanuc_IK.world examples/ROSIndustrial/fanuc_IK.sol

Of course the IK solved this way is far too slow to be used in real time. However, these set of tools have been devised to solve IK problems for which no closed-form solution is available. This example aims at showing the generality of the CuikSuite tools rather than providing any alternative to closed-form IK solutions.

Definition in file fanuc_IK.world.