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6DOF Robot - Local end effector rotation #35


I've been using a klampt script to simulate a 6DOF robot arm and i am stumbling over an issue that i can't solve. I want to set an IK target object to be a fixed position, pure rotation of the last link with respect to the link reference frame, not the world reference frame. My initial attempts were rotating the link in the world reference frame.

Here is a snip of the code:

R_0, t_0 = end_link.getTransform()
    rot_rov_X = [1, 0, 0, 0, np.cos(ang_x_move), np.sin(ang_x_move), 0, -np.sin(ang_x_move), np.cos(ang_x_move)]
    rot_rov_Y = [np.cos(ang_y_move), 0, -np.sin(ang_y_move),0 , 1, 0, np.sin(ang_y_move), 0, np.cos(ang_y_move)]
    rot_rov_Z = [np.cos(ang_z_move), np.sin(ang_z_move), 0, -np.sin(ang_z_move), np.cos(ang_z_move), 0, 0, 0, 1]

    R_1 = so3.mul(so3.mul(so3.mul(rot_rov_X,rot_rov_Y),rot_rov_Z),R_0)

    goal = ik.objective(end_link,R=R_1, t=t_0)
    solver = ik.solver(goal)
    result = solver.solve()

any help would be greatly appreciated.


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