You're reading from Mastering ROS for Robotics Programming, Third edition - Third Edition

Product typeBook

Published inOct 2021

PublisherPackt

ISBN-139781801071024

Edition3rd Edition

Tools

Robot Framework Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

The OpenRave and IKFast modules

OpenRave is a set of command lines 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 IKFast compiler can handle any number of DOFs, but practically it is well suited for DOF <= 6. IKFast is a Python script that takes arguments such as IK types, robot model, the joint position of the base link, and end effectors.

The following are the main IK types supported by IKFast:

Transform 6D: This end effector should calculate the commanded 6D transformation...

The rest of the page is locked

You have been reading a chapter from

Mastering ROS for Robotics Programming, Third edition - Third Edition

Published in: Oct 2021Publisher: PacktISBN-13: 9781801071024

Authors (2)

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

Jonathan Cacace

Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more about Jonathan Cacace

Personalised recommendations for you

Based on your interests and search pattern

Architectural Patterns and Techniques for Developing IoT Solutions

This book covers all the patterns and considerations that give you both the power and flexibility to build scalable, secure, and performant IoT solutions by combining various patterns in interesting ways. It also lists the benefits of combining IoT with technologies like blockchain, 3D-printing, 5G, Generative AI, quantum computing, and LLMs.

BookSep 2023304 pages

Arduino Data Communications

Arduino Data Communication focuses on IoT’s Internet aspect, guiding you in setting up your own infrastructure for storing and managing the data collected from sensors. This book goes beyond microcontroller basics, equipping you with the knowledge essential for building real-world projects.

BookNov 2023286 pages5

Arduino IoT Cloud for Developers

From fundamental principles to advanced techniques, this comprehensive book equips you with the knowledge and skills needed to design and deploy IoT applications seamlessly. Explore cloud integration, best practices, and real-world projects to harness the full potential of IoT application development with the Arduino IoT Cloud.

BookNov 2023402 pages

The Azure IoT Handbook

Building IoT Systems with Azure IoT is a comprehensive introduction for those who are new to the Internet of Things and looking to get up to speed in no time. This book will teach you how to create and develop IoT solutions with intelligent edge-to-cloud technologies in the Azure cloud.

BookDec 2023248 pages