Package org.robwork.sdurw_invkin

Class ClosedFormIKSolverUR

  • public class ClosedFormIKSolverUR
extends ClosedFormIK
    Analytical inverse kinematics solver to the kinematics of a Universal Robots.

    • Constructor Summary

      Constructors 
      Constructor Description
      ClosedFormIKSolverUR​(long cPtr, boolean cMemoryOwn)  
      ClosedFormIKSolverUR​(SerialDeviceCPtr device, State state)
      Construct new closed form solver for a Universal Robot.
      Note: The dimensions will be automatically extracted from the device, using an arbitrary
      state.

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void delete()  
      static long getCPtr​(ClosedFormIKSolverUR obj)  
      FrameCPtr getTCP()
      Returns the Tool Center Point (TCP) used when solving the IK problem.
      void setCheckJointLimits​(boolean check)
      Specifies whether to check joint limits before returning a solution.
      VectorQ solve​(Transform3D baseTend, State state)
      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.

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • ClosedFormIKSolverUR

        public ClosedFormIKSolverUR​(long cPtr,
                            boolean cMemoryOwn)

      • ClosedFormIKSolverUR

        public ClosedFormIKSolverUR​(SerialDeviceCPtr device,
                            State state)
        Construct new closed form solver for a Universal Robot.
        Note: The dimensions will be automatically extracted from the device, using an arbitrary
        state.
        Parameters:
        device - [in] the device.
        state - [in] the state to use to extract dimensions.

    • Method Detail

      • solve

        public VectorQ solve​(Transform3D baseTend,
                     State state)
        Description copied from class: InvKinSolver
        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) )

        Overrides:
        solve in class InvKinSolver
        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.

      • setCheckJointLimits

        public void setCheckJointLimits​(boolean check)
        Description copied from class: InvKinSolver
        Specifies whether to check joint limits before returning a solution.

        Overrides:
        setCheckJointLimits in class InvKinSolver
        Parameters:
        check - [in] If true the method should perform a check that joints are within
        bounds.

      • getTCP

        public FrameCPtr getTCP()
        Description copied from class: InvKinSolver
        Returns the Tool Center Point (TCP) used when solving the IK problem.

        Overrides:
        getTCP in class InvKinSolver
        Returns:
        The TCP Frame used when solving the IK.