KDL contains for the moment only generic solvers for kinematic chains. They can be used (with care) for every KDL::Chain.

The idea behind the generic solvers is to have a uniform API. We do this by inheriting from the abstract classes for each type of solver:

• ChainFkSolverPos
• ChainFkSolverVel
• ChainIkSolverVel
• ChainIkSolverPos

A seperate solver has to be created for each chain. At construction time, it will allocate all necessary resources.

A KDL::Chain is

• a kinematic description of a serial chain of bodies connected by joints.
• build out of KDL::Segments.

A Segment contains

• a KDL::Frame describing the link, it is the pose between the root and the tip of the segment. It cannot only contain a translational part but also a rotational part. Click below to read the rest of this post.

Kinematic Chain

Skeleton of a serial robot arm with six revolute joints. This is one example of a kinematic structure, reducing the motion modelling and specification to a geometric problem of relative motion of reference frames. The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc. Click below to read the rest of this post.

Some small examples for usage.

Do not hesitate to add your own small examples.