FK and Jacobian calculation in RTT

Hello everyone,

I am trying to implement a cartesian impedance controller from DLR's unified  
passivity based control framework. And I would like to create an orocos RTT  
component for forward kinematics or Jacobian calculation. Has somebody ever  
tried to make an orocos RTT component for this or is everybody using the KDL  
implementation.

Currently our negative feedback position controllers are running on 1Khz what  
probably is too fast for a 7Dof Jacobian and Forward kinematics calculation.  
Therefore I want to persue this pat only if the maximum frequency of these  
components is acceptable thus at least 100Hz.

Regards

Max Baeten

   
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