Defining a robot arm in orocos.

Hi, I am using OROCOS for my project -Intelligent robotic arm. I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?

Defining a robot arm in orocos.

On Fri, 8 Oct 2010, talekarsneha8 [..] ... wrote:

> I am using OROCOS for my project -Intelligent robotic arm.
> I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?

The KDL approach means that you use C++ to construct a chain data structure
for runtime use; XML is used for "persistent storage" of information. So
both are _complementary_ approaches. Expect to see some new progress in the
coming monhts on the XML front as far as kinematic chains are concerned,
via the adoption of COLLADA 1.5 for persistent storage of kinematic chain
data structures.

Herman

Defining a robot arm in orocos.

2010/10/8 talekarsneha8 [..] ... <talekarsneha8 [..] ...>:
> Hi,
> I am using OROCOS for my project -Intelligent robotic arm.
> I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?

You can build your arm using a KDL::chain
(http://people.mech.kuleuven.be/~orocos/pub/devel/kdl/latest/api/html/cla...).
For example:

&#10;chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.31))));&#10;chain.addSegment(Segment(Joint(Joint::RotY),Frame(Rotation::RotZ(M_PI),Vector(0.0,0.0,0.200))));&#10;chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.200))));&#10;chain.addSegment(Segment(Joint(Joint::RotY),Frame(Rotation::RotZ(M_PI),Vector(0.0,0.0,0.200))));&#10;chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.190))));&#10;chain.addSegment(Segment(Joint(Joint::RotY),Frame(Rotation::RotZ(M_PI))));&#10;chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,0.0))));&#10;

Steven

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Defining a robot arm in orocos.

Hi,
I am using OROCOS for my project -Intelligent robotic arm.
I wanted to know how we define an arm in orocos,should i use KDL or i need to write a XML file for it?