writing an "ad oc" joint in KDL
|Submitted by gianni borghesan on Wed, 2011-12-14 15:51|
I was wondering which the simplest way to get a joint that is not
covered by the already availble.
let say that i want a prismatic joint that moves on a curve (i.e. a
slider that follows a not straight rail) of which I have the explicit
relation between the q and pose, ad q_dot and the twist.
Then i want to attach to it other segment/joints, and take advantage of
the nice functions to compute the robot Jacobian, Forward and Inverse
Which is the way i should follow?