Re: FK and Jacobian calculation in RTT
Herman Bruyninckx <[email protected]> Sun, 19 Jan 2014 19:58:29 +0100 (CET)
| Newsgroups | gmane.science.robotics.orocos.devel |
|---|---|
| Message-ID | <alpine.DEB.2.02.1401191957020.23016@pma-12-013> |
On Fri, 17 Jan 2014, [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. RTT components are meant to put several functions (like KLD dynamics functions!) inside one and the same "process"/"thread"/"activity. It does not make sense to put individual KDL functions each in their own RTT component! > 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 Herman -- Orocos-Dev mailing list [email protected] http://lists.mech.kuleuven.be/mailman/listinfo/orocos-dev