schunk-kinematics |
| Submitted by jscholz on Thu, 2010-04-22 05:42 |
The schunk-kinematics library is a collection of c++ functions (and c-wrappers) to support kinematics calculations on the schunk LWA3 arm and schunk SDH hand.
As you might imagine, the library is organized around the idea of frames, and supports computing forward and inverse kinematics in various frames of reference. In addition, there are functions for evaluating the manipulator jacobian, and using it to control the arm (see lwa3_dx2dq_jacobian).
For the hand, schunk-kinematics supports (*will support*) functions for setting joint velocities for 2 and 3 finger grasps. This is the analog of the lwa3_dx2dq_jacobian function, but uses analytical IK
The underlying transform library we use is bullet, and so there are also utilities for building rotation matrices from rotations about bases, converting back and forth from euler angles to btTransforms, and printing them to stdout.
For detailed API overview, see the Doxygen, and in particular this link
Finally, here are some sketches that I drew up when i was working out the transforms for the fingers:
| Attachment | Size |
|---|---|
| sdh_kinematics1.jpg | 1.87 MB |
| sdh_kinematics2.jpg | 1.78 MB |
