Forward and Inverse Kinematics

Apart from the URDF models, this package provides functions for computing the forward and inverse kinematics for the robot finger tips.

Generic

The Kinematics class provides generic forward and inverse kinematics based on the robot’s URDF file.

It’s inverse_kinematics() function tries to find joint angles using an iterative optimization. It needs an initial guess as argument and is rather sensible to it, i.e. a bad initial guess can result in a bad solution.

TriFingerPro

For the FingerPro and TriFingerPro, there are special implementations of the inverse kinematics which directly compute a solution based on the known kinematics of the robot (fingerpro_ik(), trifingerpro_ik()). Those are recommended over the generic implementation mentioned above, as it is magnitudes faster and always returns an accurate solution (assuming that the desired tip positions are actually reachable).