3 releases
0.1.2 | Jul 9, 2024 |
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0.1.1 | Jul 9, 2024 |
0.1.0 | Jul 1, 2024 |
#64 in Robotics
130KB
3.5K
SLoC
Ik Geo
This is a Rust implementation of the analytic inverse kinematics algorithms found in the IK-Geo paper. This implemenation has been adapted from the original Rust implementation by RPI Robotics.
Usage
To use this package, you either need to choose a an implemented model by name, or specify the kinematics as a Product of Exponentials and select the appropriate problem decomposition.
// Only need to import the one you are using
use ik_geo::robot::{
spherical, spherical_two_parallel, spherical_two_intersecting, three_parallel_two_intersecting, three_parallel, two_parallel,
two_intersecting, gen_six_dof
}
use ik_geo::robot::{
ur5, irb6640, three_parallel_bot, two_parallel_bot, spherical_bot
}
fn main() {
let robot = ur5();
let R: Matrix3<f64> = ...
let t: Vector3<f64> = ...
// Solutions is a list of IK solutions
// and whether they are least squares approximations.
// Depending on the specific decomposition, a least squares solution might not be available.
let solns = robot.ik(R, t);
for (q, is_ls) in solns {
if !is_ls {
// This is an exact solution
} else {
// This one is close, but not exact
}
}
}
Performance
While this implementation can be used on a wide range of manipulators, it performs much better on when the solution can be found entirely analytically. The following table shows which method is used for each type of kinematics:
Solution Type | Robot Kinematic Family | Example |
---|---|---|
Closed-form | Spherical joint | Franka Production 3, fixed $q_5$ |
and two intersecting axes | KUKA LBR iiwa 7 R800 , fixed $q_3$ | |
and two parallel axes | ABB IRB 6640 | |
Three parallel axes | N/A | |
and two intersecting axes | Universal Robots UR5 | |
and two parallel axes | N/A | |
1D search | Two intersecting axes | Kassow Robots KR810, fixed $q_7$ |
and two intersecting axes | FANUC CRX-10iA/L | |
and two parallel axes | Kawasaki KJ125 | |
Two parallel axes | N/A | |
and two parallel axes | N/A | |
Two intersecting axes $k, k+2$ | ABB YuMi, fixed $q_3$ | |
and two intersecting axes | RRC K-1207i, fixed $q_6$ | |
and two parallel axes | N/A | |
2D search | General 6R | Kassow Robots KR810, fixed $q_6$ |
Testing
Correctness Tests
$ cargo test --release
For diagnostic info:
$ cargo test --release -- --nocapture
Dependencies
~5MB
~97K SLoC