Re: FK and Jacobian calculation in RTT

Hi,

On 01/17/2014 04:28 PM, [email protected] wrote:
> 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.
 From my perspective (and I think most people I know using Orocos),
I use the KDL implementation (=library) inside a component.

>
> Currently our negative feedback position controllers are running on 1Khz what
> probably is too fast for a 7Dof Jacobian and Forward kinematics calculation.
KDL is implemented with real-time in mind (no reallocations...) and
(depending on your available hardware of course)
normally 1kHz shouldn't be a problem for those operations.
I would be more worried about IK on higher DOF robots
> Therefore I want to persue this pat only if the maximum frequency of these
> components is acceptable thus at least 100Hz.
as a reference:
in the comanipulation demo using iTaSC
(see http://orocos.org/wiki/orocos/itasc-wiki/itasc-tutorials/human-pr2-comanipulation-demo)
I use a 20DOF PR2 robot for which I calculate FK and multiple Jacobians as a little step of the whole algorithm (including svd on 20x24 matrix) that completes within 0.01s 
(100Hz)

Previous year someone mentioned the intention to do benchmark tests on the different KDL algorithms,
I'm interested if there where any results :)
>
> Regards
>
> Max Baeten
>
>
>
hth,

Nick
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