ClosedFormIKSolverKukaIIWA.hpp File Reference

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

#include <rw/invkin/ClosedFormIK.hpp>
#include <rw/kinematics/FKRange.hpp>
#include <rw/math/Vector2D.hpp>

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

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::models
	Workcell and device models.
	rw::invkin
	Inverse kinematics interfaces and iksolver classes.

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.