Package org.robwork.sdurw

Class ClosedFormIKSolverKukaIIWA

java.lang.Object

org.robwork.sdurw.InvKinSolver

org.robwork.sdurw.ClosedFormIK

org.robwork.sdurw.ClosedFormIKSolverKukaIIWA

public class ClosedFormIKSolverKukaIIWA
extends ClosedFormIK

Analytical inverse solver for the Kuka LBR IIWA 7 R800 robot.

Notice that this is a 7 DOF robot and that there is an infinite number of solutions.
The extra DOF means that the middle joint of the robot is able to move in a circle.
This solver will choose a point on this circle randomly and return up to 8 possible solutions.

Constructor Summary

Constructors

Constructor	Description
ClosedFormIKSolverKukaIIWA(long cPtr, boolean cMemoryOwn)
ClosedFormIKSolverKukaIIWA(SerialDeviceCPtr device, State state)	Construct new closed form solver for a Kuka 7 DOF IIWA robot.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(ClosedFormIKSolverKukaIIWA obj)
FrameCPtr	getTCP()	Returns the Tool Center Point (TCP) used when solving the IK problem.
void	setCheckJointLimits(boolean check)	Specifies whether to check joint limits before returning a solution.
VectorQ	solve(Transform3Dd baseTend, State state)	Calculates the inverse kinematics Given a desired transformation and the current state, the method solves the inverse kinematics problem.
VectorQ	solve(Transform3Dd baseTend, State state, Vector3Dd dir4)	Find inverse kinematic solutions deterministically by pulling joint 4 as much in the given direction as possible.

Methods inherited from class org.robwork.sdurw.ClosedFormIK

getCPtr, make

Methods inherited from class org.robwork.sdurw.InvKinSolver

getCPtr

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ClosedFormIKSolverKukaIIWA

public ClosedFormIKSolverKukaIIWA(long cPtr,
                                  boolean cMemoryOwn)

ClosedFormIKSolverKukaIIWA

public ClosedFormIKSolverKukaIIWA(SerialDeviceCPtr device,
                                  State state)

Construct new closed form solver for a Kuka 7 DOF IIWA robot.

Parameters:

device - [in] the device.

state - [in] the state to get the frame structure and extract the dimensions from.

Method Detail

getCPtr

public static long getCPtr(ClosedFormIKSolverKukaIIWA obj)

delete

public void delete()

Overrides:

delete in class ClosedFormIK

solve

public VectorQ solve(Transform3Dd baseTend,
                     State state)

Calculates the inverse kinematics

Given a desired transformation
and the current state, the method solves the inverse kinematics
problem.

If the algorithm is able to identify multiple solutions (e.g. elbow
up and down) it will return all of these. Before returning a solution,
they may be checked to be within the bounds of the configuration space.
(See setCheckJointLimits(bool) )

Overrides:

solve in class InvKinSolver

Parameters:

baseTend - [in] Desired base to end transformation.

state - [in] State of the device from which to start the
iterations

Returns:

List of solutions. Notice that the list may be empty.

Note: The targets baseTend must be defined relative to the base of the
robot/device.

solve

public VectorQ solve(Transform3Dd baseTend,
                     State state,
                     Vector3Dd dir4)

Find inverse kinematic solutions deterministically by pulling joint 4 as much in the given direction as possible.

Parameters:

baseTend - [in] Desired base to end transformation.

state - [in] State of the device from which to start the iterations.

dir4 - [in] unit vector giving the direction to pull joint 4 in (given in base coordinate system).

Returns:

List of up to 8 solutions. Notice that the list may be empty.

setCheckJointLimits

public void setCheckJointLimits(boolean check)

Specifies whether to check joint limits before returning a solution.

Overrides:

setCheckJointLimits in class InvKinSolver

Parameters:

check - [in] If true the method should perform a check that joints are within bounds.

getTCP

public FrameCPtr getTCP()

Returns the Tool Center Point (TCP) used when solving the IK problem.

Overrides:

getTCP in class InvKinSolver

Returns:

The TCP Frame used when solving the IK.