KDL and FreeCAD

Hy together, my name is Jürgen Riegel and I'm the maintainer of the FreeCAD project (http://free-cad.sf.net).

I latly started a Robot simulation Workbench in FreeCAD to support robot simulation for 6-Axis industry robots. I was glad to find your project and used especially the KDL heavily. Here some results:

http://sourceforge.net/apps/phpbb/free-cad/download/file.php?id=4

http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Robot_Workbench

http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=6-Axis_Robot

At the moment I using a copy of the KDL in our src tree: http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/App/kdl_cp/

That was because of some build issues on Windows and some bug-fixes I have to make. Also is there no package for e.g. Debian.

But I'm interested to contribute upstream! So here my questions:

  • Who is in charge about KDL and patch management.
  • I would like to contribute add. functionality like a closed Inverse kinematic solver

for 6-Axis robots and support for more sophisticated continues Trajectories.

Let me know what you think!

Jürgen

Ruben Smits's picture

KDL and FreeCAD

On Wed, Jan 20, 2010 at 11:00 AM, FreeCAD [..] ...
<FreeCAD [..] ...> wrote:
> Hy together,
> my name is Jürgen Riegel and I'm the maintainer of the FreeCAD project (http://free-cad.sf.net).
>
> I latly started a Robot simulation Workbench in FreeCAD to support robot simulation for
> 6-Axis industry robots. I was glad to find your project and used especially the KDL heavily.
> Here some results:
>
> http://sourceforge.net/apps/phpbb/free-cad/download/file.php?id=4
>
> http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Robot_Wor...
>
> http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=6-Axis_Robot
>
> At the moment I using a copy of the KDL in our src tree:
> http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/...
>
> That was because of some build issues on Windows and some bug-fixes I have to make.

Feel free to send any patches to the orocos-dev mailinglist. I'll
review and apply the patches to kdl-trunk

> Also is there no package for e.g. Debian.
>
> But I'm interested to contribute upstream! So here my questions:
>
> * Who is in charge about KDL and patch management.

I am :)

> * I would like to contribute add. functionality like a closed Inverse kinematic solver
> for 6-Axis robots and support for more sophisticated continues Trajectories.

Feel free to contribute, if the contributions are within the scope of
KDL, I will be happy to include them.

Ruben

> Let me know what you think!
>
> Jürgen
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

KDL and FreeCAD

On Wed, 20 Jan 2010, FreeCAD [..] ... wrote:

> Hy together,
> my name is Jürgen Riegel and I'm the maintainer of the FreeCAD project (http://free-cad.sf.net).
>
> I latly started a Robot simulation Workbench in FreeCAD to support robot simulation for
> 6-Axis industry robots. I was glad to find your project and used especially the KDL heavily.
> Here some results:
>
> http://sourceforge.net/apps/phpbb/free-cad/download/file.php?id=4
>
> http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Robot_Wor...
>
> http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=6-Axis_Robot
>
> At the moment I using a copy of the KDL in our src tree:
> http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/...
>
> That was because of some build issues on Windows and some bug-fixes I have to make.
> Also is there no package for e.g. Debian.
>
> But I'm interested to contribute upstream! So here my questions:
>
> * Who is in charge about KDL and patch management.

Ruben Smits <http://blog.associatie.kuleuven.be/rubensmits/>

> * I would like to contribute add. functionality like a closed Inverse kinematic solver
> for 6-Axis robots and support for more sophisticated continues Trajectories.
>
> Let me know what you think!

This is great news, of course :-) Please discuss some more details of your
planned contributions on this mailinglist. For example: what closed-form
solver are you thinking about, and what are "more sophisticated"
trajectories?

Herman

--
K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group
<http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 328056
EURON Coordinator (European Robotics Research Network) <http://www.euron.org>
Open Realtime Control Services <http://www.orocos.org>
Associate Editor JOSER <http://www.joser.org>, IJRR <http://www.ijrr.org>

KDL and FreeCAD

Hy together,
my name is Jürgen Riegel and I'm the maintainer of the FreeCAD project (http://free-cad.sf.net).

I latly started a Robot simulation Workbench in FreeCAD to support robot simulation for
6-Axis industry robots. I was glad to find your project and used especially the KDL heavily.
Here some results:

http://sourceforge.net/apps/phpbb/free-cad/download/file.php?id=4

http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=Robot_Wor...

http://sourceforge.net/apps/mediawiki/free-cad/index.php?title=6-Axis_Robot

At the moment I using a copy of the KDL in our src tree:
http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/...

That was because of some build issues on Windows and some bug-fixes I have to make.
Also is there no package for e.g. Debian.

But I'm interested to contribute upstream! So here my questions:

* Who is in charge about KDL and patch management.
* I would like to contribute add. functionality like a closed Inverse kinematic solver
for 6-Axis robots and support for more sophisticated continues Trajectories.

Let me know what you think!

Jürgen
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