-
The
kinova_positional_control
ROS package is designed to provide positional control for Kinova Gen 3 7DoF robot arm usingrelaxed_ik
(collision_ik) andkinova_pid
packages. -
relaxed_ik
package is a ROS package that provides an inverse kinematics solver for manipulators.relaxed_ik
uses a relaxation strategy to generate solutions that are not necessarily exact, but that satisfy the constraints of the robot arm. The relaxation strategy allows the solver to find feasible solutions even in situations where the problem is ill-posed or under-constrained. -
kinova_pid
is a ROS package that provides a PID controller for joint-level control of robot arms. It allows users to set desired joint positions and velocities and provides feedback on the current joint positions and velocities. -
kinova_positional_control
ROS package uses these two packages to provide positional control for Kinova Gen 3 7DoF robot arm. It takes as input the desired end-effector position and orientation, and uses therelaxed_ik
package to compute the desired joint positions that achieve this position and orientation. It then uses thekinova_pid
package to control the robot arm and move it to the desired joint positions.
kinova_positional_control's Introduction
kinova_positional_control's People
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