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sr_kinematics currently contains a specific analytical inverse kinematics for the shadow_robot hand. Currently, only the 4 fingers have an IK solution, the thumb will come later. The solution takes care of the coupled joint J1/J2 (assuming it is 1:1) and accepts 3D requests (instead of 6D). There is an approximation in this solution.

Detail of the solution


The developed IK uses an approximation of the fingertip center to create a virtually simplified 2 links (3 dof) kinematic chain. The method considers the isoceles triangle formed by the coupled joint to solve the inverse kinematics.




The node proposes the same services and parameters as the arm_kinematics

NOTE that epsilon parameter is used to detect singularities for J4 joint.

2024-06-15 13:47