ClosedFormIKSolverKukaIIWA Class Reference

Analytical inverse solver for the Kuka LBR IIWA 7 R800 robot. More...

#include <ClosedFormIKSolverKukaIIWA.hpp>

Inherits ClosedFormIK.

Public Types
typedef rw::core::Ptr< ClosedFormIKSolverKukaIIWA >	Ptr
	Smart pointer type to ClosedFormIKSolverKukaIIWA.
Public Types inherited from ClosedFormIK
typedef rw::core::Ptr< ClosedFormIK >	Ptr
	smart pointer type to this class
Public Types inherited from InvKinSolver
typedef rw::core::Ptr< InvKinSolver >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const InvKinSolver >	CPtr
	smart pointer type to this const class

Public Member Functions
	ClosedFormIKSolverKukaIIWA (const rw::core::Ptr< const rw::models::SerialDevice > device, const rw::kinematics::State &state)
	Construct new closed form solver for a Kuka 7 DOF IIWA robot. More...
virtual	~ClosedFormIKSolverKukaIIWA ()
	Destructor.
std::vector< rw::math::Q >	solve (const rw::math::Transform3D< double > &baseTend, const rw::kinematics::State &state) const
	Calculates the inverse kinematics. More...
std::vector< rw::math::Q >	solve (const rw::math::Transform3D< double > &baseTend, const rw::kinematics::State &state, const rw::math::Vector3D< double > &dir4) const
	Find inverse kinematic solutions deterministically by pulling joint 4 as much in the given direction as possible. More...
void	setCheckJointLimits (bool check)
	Specifies whether to check joint limits before returning a solution. More...
virtual rw::core::Ptr< const rw::kinematics::Frame >	getTCP () const
	Returns the Tool Center Point (TCP) used when solving the IK problem. More...
Public Member Functions inherited from ClosedFormIK
virtual	~ClosedFormIK ()
	Destructor.
Public Member Functions inherited from InvKinSolver
virtual	~InvKinSolver ()
	destructor

Additional Inherited Members
Static Public Member Functions inherited from ClosedFormIK
static ClosedFormIK::Ptr	make (const rw::models::Device &device, const rw::kinematics::State &state)
	Closed-form IK solver for a device. More...
Protected Member Functions inherited from ClosedFormIK
	ClosedFormIK ()
	Constructor.

Detailed Description

Analytical inverse solver for the Kuka LBR IIWA 7 R800 robot.

Notice that this is a 7 DOF robot and that there is an infinite number of solutions. The extra DOF means that the middle joint of the robot is able to move in a circle. This solver will choose a point on this circle randomly and return up to 8 possible solutions.

Constructor & Destructor Documentation

ClosedFormIKSolverKukaIIWA()

ClosedFormIKSolverKukaIIWA	(	const rw::core::Ptr< const rw::models::SerialDevice >	device,
		const rw::kinematics::State &	state
	)

Construct new closed form solver for a Kuka 7 DOF IIWA robot.

Parameters

device	[in] the device.
state	[in] the state to get the frame structure and extract the dimensions from.

Member Function Documentation

getTCP()

virtual rw::core::Ptr<const rw::kinematics::Frame> getTCP ( ) const

virtual

Returns the Tool Center Point (TCP) used when solving the IK problem.

Returns

The TCP Frame used when solving the IK.

Implements InvKinSolver.

setCheckJointLimits()

void setCheckJointLimits ( bool  check )

virtual

Specifies whether to check joint limits before returning a solution.

Parameters

check

[in] If true the method should perform a check that joints are within bounds.

Implements InvKinSolver.

solve() [1/2]

std::vector<rw::math::Q> solve ( const rw::math::Transform3D< double > &  baseTend, const rw::kinematics::State &  state  ) const

virtual

Calculates the inverse kinematics.

Given a desired \(\robabx{}{desired}{\mathbf{T}}\) and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend	[in] Desired base to end transformation \( \robabx{}{desired}{\mathbf{T}}\)
state	[in] State of the device from which to start the iterations

Returns

List of solutions. Notice that the list may be empty.

Note

The targets baseTend must be defined relative to the base of the robot/device.

Implements InvKinSolver.

solve() [2/2]

std::vector<rw::math::Q> solve	(	const rw::math::Transform3D< double > &	baseTend,
		const rw::kinematics::State &	state,
		const rw::math::Vector3D< double > &	dir4
	)		const

Find inverse kinematic solutions deterministically by pulling joint 4 as much in the given direction as possible.

Parameters

baseTend	[in] Desired base to end transformation \(\robabx{}{desired}{\mathbf{T}}\).
state	[in] State of the device from which to start the iterations.
dir4	[in] unit vector giving the direction to pull joint 4 in (given in base coordinate system).

Returns

List of up to 8 solutions. Notice that the list may be empty.

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The documentation for this class was generated from the following file:

• ClosedFormIKSolverKukaIIWA.hpp