Manipulators kinematics

Using as library

$ git clone git@github.com:kirillin/youbot_arm_kinematics.git

Import and initialization for Python

from youbot_arm_kinematics.kinematics import Kinematics
from youbot_arm_kinematics.dh_parameters import YouBotDHParameters

ks = Kinematics(YouBotDHParameters.DH_A, YouBotDHParameters.DH_ALPHA,
YouBotDHParameters.DH_D, YouBotDHParameters.DH_THETA)

Using for Python

For forward kinematics problem:

xyz, qtn, rpy, h  = ks.forward(q)

where xyz = [x, y, z], qtn = [a, b, c, d], rpy = [roll, pitch, yaw], h - matrix homogeneous transformations.

For inverse kinematics problem:

qs, solves = ks.inverse(xyz, rpy)

where qs - matrix with configurations, solves - achievable configurations.

You can see details in nodes scripts/fk_test and scripts/ik_test.

Using for just look

For forward kinematics problem:

$ roslaunch youbot_arm_kinematics fk.launch
$ rosrun youbot_arm_kinematics fk_test

Changing values for angles in joint_state_publisher window and see simulation...

For inverse kinematics problem:

$ roslaunch youbot_arm_kinematics ik.launch
$ rosrun youbot_arm_kinematics ik_test

Calling the service /ik see result in simulation. For example candle-manipulator pose.

$ rosservice call /ik "xyz:
- 0.0
- 0.0
- 0.63
rpy:
- 0.0
- 0.0
- 0.0"

Have fun!