Can I do a kinematics redundancy by using inverse kinematics?
11 visualizaciones (últimos 30 días)
Mostrar comentarios más antiguos
Are there any ways to do Inverse kinematic and get something like this?
what constrait do I need to add?
I tried to do something like this, but it doesn't well succeed
lbr = importrobot('iiwa14.urdf');
lbr.DataFormat = 'row';
initialguess = lbr.homeConfiguration;
gripper = 'iiwa_link_ee_kuka';
link1 = 'iiwa_link_1';
count = 1;
gik = generalizedInverseKinematics('RigidBodyTree',lbr,'ConstraintInputs',{'pose','orientation','joint'});
poseConst = constraintPoseTarget(gripper);
poseConst.TargetTransform = trvec2tform([0.5 0.5 0.4])*eul2tform([0 0 -pi]);
jointConst = constraintJointBounds(lbr);
maxJointChange = deg2rad(10);
orientationConst = constraintOrientationTarget(link1);
min = -70;
max = 70;
for i = min:10:max
if i == min
jointConst.Weights = zeros(size(jointConst.Weights));
orientationConst.TargetOrientation = eul2quat([deg2rad(i) 0 0]);
qs(count,:) = gik(initialguess,poseConst,orientationConst,jointConst);
initialguess = qs(count,:);
count = count+1;
else
jointConst.Weights = ones(size(jointConst.Weights))*0.25;
jointConst.Bounds = [qs(count-1,:)' - maxJointChange, qs(count-1,:)' + maxJointChange];
orientationConst.TargetOrientation = eul2quat([deg2rad(i) 0 0]);
orientation.Weights = ones(size(orientationConst.Weights))*0.25;
qs(count,:) = gik(initialguess,poseConst,orientationConst,jointConst);
initialguess = qs(count,:);
count = count+1;
end
end
framesPerSecond = 5;
r = rateControl(framesPerSecond);
for i = 1:count-1
show(lbr,qs(i,:),'PreservePlot',false);
% show(lbr,qs(i,:));
drawnow
waitfor(r);
end
0 comentarios
Respuestas (1)
Yiping Liu
el 10 de Dic. de 2020
You sould not use orientationTarget for link1.
Try something like below (You only need pose and joint constraints)
lbr = importrobot('iiwa14.urdf');
lbr.DataFormat = 'row';
initialguess = lbr.homeConfiguration;
gripper = 'iiwa_link_ee_kuka';
link1 = 'iiwa_link_1';
count = 1;
gik = generalizedInverseKinematics('RigidBodyTree',lbr,'ConstraintInputs',{'pose','joint'});
poseConst = constraintPoseTarget(gripper);
poseConst.TargetTransform = trvec2tform([0.5 0.5 0.4])*eul2tform([0 0 -pi]);
jointConst = constraintJointBounds(lbr);
maxJointChange = deg2rad(10);
min = -70;
max = 70;
for i = min:5:max
if i == min
qs(count,:) = gik(initialguess,poseConst,jointConst);
initialguess = qs(count,:);
count = count+1;
else
bounds = jointConst.Bounds;
bounds(1,:) = [initialguess(1) + 0.025, bounds(1,2)];
jointConst.Bounds = bounds;
qs(count,:) = gik(initialguess,poseConst,jointConst);
initialguess = qs(count,:);
count = count+1;
end
end
for i = 1:count-1
if i == 1
ax = show(lbr,qs(i,:),'PreservePlot',false);
view(ax, 80, 36);
else
show(lbr,qs(i,:),'PreservePlot',false, 'Parent', ax);
end
drawnow
hold on
end
6 comentarios
Yiping Liu
el 17 de Dic. de 2020
I just tested the script in 2020b release and I get exactly the same result shown above. Maybe some internal files in your MATLAB installation got corrupted? I would suggest you start a tech support case regarding this issue.
Ver también
Categorías
Más información sobre Calendar en Help Center y File Exchange.
Productos
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!