We're getting a seg fault from within KDL::svd_HH.cpp when doing positional inverse kinematics of a 7DOF manipulator. Before I dive down the rabbit hole, I figured that I would ask the basic question about redundant manipulators (and hence non-square jacobians, etc).

Thanks

S

## Does KDL deal with redundant manipulators?

On Tuesday May 6 2008 18:28:12 snrkiwi wrote:

> We're getting a seg fault from within KDL::svd_HH.cpp when doing positional

> inverse kinematics of a 7DOF manipulator. Before I dive down the rabbit

> hole, I figured that I would ask the basic question about redundant

> manipulators (and hence non-square jacobians, etc).

Yes,

but for now we only use a non-weighted pseudo inverse to solve the problem at

velocity level, this means that the velocity is distributed equally over all

axis.

I could reproduce the bug, it is not there using the other svd implementation.

I'll fix it.

Ruben

Disclaimer: http://www.kuleuven.be/cwis/email_disclaimer.htm

## Fixed for me

Confirming that r29235 and r29236 solve this problem for me. Seg fault disappeared - thanks!

S