skbot.inverse_kinematics¶
Inverse Kinematics (IK) Algorithms.
The algorithms in this module find values for a set of joints (a glorified list
of tf.Links
) such that the score of one or more
Targets is below a given threshold.
Targets are specified between two tf.Frames
that are connected by a sequence of tf.Links
(the kinematic chain). For example, the PositionTarget
can be used to
specify that a position in a robot’s tool frame should have a certain position
when transformed into the world frame. The available IK algorithms will then
attempt to find values for the chosen joints - which are assumed to be between
these two frames - such that the value of the transformed tool position and the
value of the world position is closer than some threshold.
Targets¶
|
IK position target (nD). |
|
IK rotation target (2D/3D). |
IK Algorithms¶
|
Cyclic Coordinate Descent. |
|
L-BFGS-B based Gradient Descent. |