March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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OpenRave and IK Fast Module
OpenRave is a set of command line and GUI tools for developing, testing, and deploying motion planning algorithms in real-world applications. One of the OpenRave modules is IKFast, which is a robot kinematics compiler. OpenRave was created by a Robotic researcher called Rosen Diankov.
The IKFast compiler analytically solves the inverse kinematics of a robot and generates optimized and independent C++ files, which can be deployed in our code for solving IK. The IKFast compiler generates analytic solutions of IK, which is much faster than numerical solutions provided by KDL. The IK Fast compiler can handle any number of DOF, but practically it is well suited for DOF <= 6.
The IKFast is a Python script that takes ...