From 17c7d8110f9ade6f979533ca341768e05b07f62f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christian=20J=C3=BClg?= Date: Tue, 23 Aug 2022 12:06:14 +0200 Subject: [PATCH] add mh5&mh5l opw config --- .../config/opw_parameters_mh5.yaml | 20 +++++++++++++++++++ .../config/opw_parameters_mh5l.yaml | 20 +++++++++++++++++++ 2 files changed, 40 insertions(+) create mode 100644 motoman_mh5_support/config/opw_parameters_mh5.yaml create mode 100644 motoman_mh5_support/config/opw_parameters_mh5l.yaml diff --git a/motoman_mh5_support/config/opw_parameters_mh5.yaml b/motoman_mh5_support/config/opw_parameters_mh5.yaml new file mode 100644 index 00000000..aa94752b --- /dev/null +++ b/motoman_mh5_support/config/opw_parameters_mh5.yaml @@ -0,0 +1,20 @@ +# +# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist) +# kinematic configurations, as described in the paper "An Analytical Solution +# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an +# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur +# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop +# 2014, 22-23 May, 2014, Linz, Austria). +# +# The moveit_opw_kinematics_plugin package provides such a solver. +# +opw_kinematics_geometric_parameters: + a1: 0.088 + a2: -0.040 + b: 0.000 + c1: 0.330 + c2: 0.310 + c3: 0.305 + c4: 0.080 +opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)] +opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1] diff --git a/motoman_mh5_support/config/opw_parameters_mh5l.yaml b/motoman_mh5_support/config/opw_parameters_mh5l.yaml new file mode 100644 index 00000000..0655ddeb --- /dev/null +++ b/motoman_mh5_support/config/opw_parameters_mh5l.yaml @@ -0,0 +1,20 @@ +# +# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist) +# kinematic configurations, as described in the paper "An Analytical Solution +# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an +# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur +# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop +# 2014, 22-23 May, 2014, Linz, Austria). +# +# The moveit_opw_kinematics_plugin package provides such a solver. +# +opw_kinematics_geometric_parameters: + a1: 0.088 + a2: -0.040 + b: 0.000 + c1: 0.330 + c2: 0.400 + c3: 0.405 + c4: 0.080 +opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)] +opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]