From e78bbd15edb2b39c9053ff3b963ef2947e10a531 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christian=20J=C3=BClg?= Date: Fri, 31 Mar 2023 18:01:09 +0200 Subject: [PATCH] Add OPW for KR10 R1420 (#238) --- .../config/opw_parameters_kr10r1420.yaml | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 kuka_kr10_support/config/opw_parameters_kr10r1420.yaml diff --git a/kuka_kr10_support/config/opw_parameters_kr10r1420.yaml b/kuka_kr10_support/config/opw_parameters_kr10r1420.yaml new file mode 100644 index 000000000..2e8fdb386 --- /dev/null +++ b/kuka_kr10_support/config/opw_parameters_kr10r1420.yaml @@ -0,0 +1,21 @@ +# +# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist) +# kinematic configurations, as described in the paper "An Analytical Solution +# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an +# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur +# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop +# 2014, 22-23 May, 2014, Linz, Austria). +# +# The moveit_opw_kinematics_plugin package provides such a solver. +# +opw_kinematics_geometric_parameters: + a1: 0.150 + a2: -0.020 + b: 0.0 + c1: 0.450 + c2: 0.610 + c3: 0.660 + c4: 0.080 +opw_kinematics_joint_offsets: [0.0, deg(-90.0), 0.0, 0.0, 0.0, 0.0] +opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1] +