# Inverse Kinematics with KDL

Submitted by telvin on Fri, 2010-12-24 21:11 |

Hello,

KDL is relatively new for me and I need to calculate inverse Kinematics for a KUKA-125. I have to calculate always with respect to the angle limits of joints. Can anybody please tell me if there is a method, which I can use for this purpose to limit joint angles, like theta min and theta max?

Best regards,

telvin

### Inverse Kinematics with KDL

Hello!

Does it means that I just have to install boost and CMake for RTT? In the documentation of RTT under http://www.orocos.org/wiki/rtt/rtt-ms-windows/compiling-rtt-1100-windows... there is a part "Setting up CMake". At this step it is mentioned that the TAO and ACE are to install, this means I need TAO, even I do not use CORBA. I´ve built ACE and TAO_IDL respect to the instructions under http://www.dre.vanderbilt.edu/~schmidt/DOC_ROOT/TAO/TAO-INSTALL.html. But I don´t know what could I have done wrong. Could someone please help me to install TAO?

I´d appreciate all the helps for this problem.

Thanks in advance!

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### Inverse Kinematics with KDL

On Tue, 28 Dec 2010, emre [dot] ates [..] ... wrote:

>

>

> *According to the documentation, the "chainiksolverpos_nr_jl" solver

> *computed inverse position kinematics taking into account joint limits:

> *

> *"""

> * * Implementation of a general inverse position kinematics

> * * algorithm based on Newton-Raphson iterations to calculate the

> * * position transformation from Cartesian to joint space of a

> *general

> * * KDL::Chain. Takes joint limits into account.

> *"""

> *

> *Hope this helps,

> *

>> Wim

>

>

>

> Hello,

>

> Thank you very much for all the replies! I´ve read the code of

> chainiksolverpos_nr_jl.cpp and I think it´d help me indeed. As Example, I

> try to get 6 theta angles for my robot according to the coordinates of a

> point with x,y,z,alfa,beta and gamma. The joint 5 is limited with +/- 2.6

> rads and I get as inverse kinematics solution for example 2.95 rads for

> the fifth joint. I think it would be the right way to solve this problem,

> if I limit the joint angles, but now I have a new problem;

>

> After these helpful feedbacks I´ve startet to install KDL for Visual

> Studio 2008. Concerning the Dokumentation I´ve downloaded and built

> boost, ACE and TAO_IDL then tried to build TAO, but it didn´t work. As I

> understood I need ACE and TAO for CORBA and CORBA for RTT.

No you don't! _Only_ if you want to have CORBA support.

> There are many

> errors bei build of TAO.What could bring these errors on?(In many of the

> errors: xxxx.h not found! But I´ve downloaded all the code with svn and

> generated the projects with CMake) Now it stucks by the installation!

>

> I would be glad, if somebody could help me!

>

> Thanks in advance and I wish you all a happy new year!

>

>

>

Herman

## Inverse Kinematics with KDL

Telvin,

According to the documentation, the "chainiksolverpos_nr_jl" solver

computed inverse position kinematics taking into account joint limits:

"""

* Implementation of a general inverse position kinematics

* algorithm based on Newton-Raphson iterations to calculate the

* position transformation from Cartesian to joint space of a

general

* KDL::Chain. Takes joint limits into account.

"""

Hope this helps,

Wim

On Fri, Dec 24, 2010 at 2:11 PM, <emre [dot] ates [..] ...> wrote:

> Hello,

>

> KDL is relatively new for me and I need to calculate inverse Kinematics for a KUKA-125. I have to calculate always with respect to the angle limits of joints. Can anybody please tell me if there is a method, which I can use for this purpose to limit joint angles, like theta min and theta max?

>

> Best regards,

>

> telvin

> --

> Orocos-Users mailing list

> Orocos-Users [..] ...

> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

>

## Inverse Kinematics with KDL

Wim Meeussenwrote:*According to the documentation, the "chainiksolverpos_nr_jl" solver

*computed inverse position kinematics taking into account joint limits:

*

*"""

* * Implementation of a general inverse position kinematics

* * algorithm based on Newton-Raphson iterations to calculate the

* * position transformation from Cartesian to joint space of a

*general

* * KDL::Chain. Takes joint limits into account.

*"""

*

*Hope this helps,

*

>Wim

Hello,

Thank you very much for all the replies! I´ve read the code of chainiksolverpos_nr_jl.cpp and I think it´d help me indeed. As Example, I try to get 6 theta angles for my robot according to the coordinates of a point with x,y,z,alfa,beta and gamma. The joint 5 is limited with +/- 2.6 rads and I get as inverse kinematics solution for example 2.95 rads for the fifth joint. I think it would be the right way to solve this problem, if I limit the joint angles, but now I have a new problem;

After these helpful feedbacks I´ve startet to install KDL for Visual Studio 2008. Concerning the Dokumentation I´ve downloaded and built boost, ACE and TAO_IDL then tried to build TAO, but it didn´t work. As I understood I need ACE and TAO for CORBA and CORBA for RTT. There are many errors bei build of TAO.What could bring these errors on?(In many of the errors: xxxx.h not found! But I´ve downloaded all the code with svn and generated the projects with CMake) Now it stucks by the installation!

I would be glad, if somebody could help me!

Thanks in advance and I wish you all a happy new year!

--

Orocos-Users mailing list

Orocos-Users [..] ...

http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users

## Re: Inverse Kinematics with KDL

Hello!

Does it means that I just have to install boost and CMake for RTT? In the documentation of RTT under http://www.orocos.org/wiki/rtt/rtt-ms-windows/compiling-rtt-1100-windows-native-win32-api there is a part "Setting up CMake". At this step it is mentioned that the TAO and ACE are to install, this means I need TAO, even I do not use CORBA. I´ve built ACE and TAO_IDL respect to the instructions under http://www.dre.vanderbilt.edu/~schmidt/DOC_ROOT/TAO/TAO-INSTALL.html. But I don´t know what could I have done wrong. Could someone please help me to install TAO? I´d appreciate all the helps for this problem.

Thanks in advance!

## Inverse Kinematics with KDL

> Does it means that I just have to install boost and CMake for RTT?

You can use KDL without RTT, TAO, etc. I think you only need Eigen and Boost.

Wim

## Re: Inverse Kinematics with KDL

Wim Meeussenwrote:>Wim

Hello,

Thank you very much for all the replies! I´ve read the code of chainiksolverpos_nr_jl.cpp and I think it´d help me indeed. As Example, I try to get 6 theta angles for my robot according to the coordinates of a point with x,y,z,alfa,beta and gamma. The joint 5 is limited with +/- 2.6 rads and I get as inverse kinematics solution for example 2.95 rads for the fifth joint. I think it would be the right way to solve this problem, if I limit the joint angles, but now I have a new problem;

After these helpful feedbacks I´ve startet to install KDL for Visual Studio 2008. Concerning the Dokumentation I´ve downloaded and built boost, ACE and TAO_IDL then tried to build TAO, but it didn´t work. As I understood I need ACE and TAO for CORBA and CORBA for RTT. There are many errors bei build of TAO.What could bring these errors on?(In many of the errors: xxxx.h not found! But I´ve downloaded all the code with svn and generated the projects with CMake) Now it stucks by the installation!

I would be glad, if somebody could help me!

Thanks in advance and I wish you all a happy new year!