Re: Robotics course notes with concrete kinematic models...

On Thu, 3 Jul 2003, Leopold Palomo Avellaneda wrote:

[...]
> <Off topic>
> How did you do the figures? They are really good!!!
> </Off topic>

Many of them are Xfig-generated.

> > The "lrl" library of the current Orocos@KULeuven code contains this
> > implementation, and some documentation on the various alternative
> > conventions that can be used. (Look for the "feath6r" directory.)
> 
> Please could you said me which file are you talking? I have downloaded the 
> orocos-lrl-2.0.1-cvs.tar.gz  file and there's no feath6r directory?
> 
It's in the "motioncontrol" tarball. We know we have to reorganize the
directory structure of kinematics and motion control...

> > Another related issue is the efficient numeric calculation of general
> > kinematic structures. I have put the common algorithms in my course
> > notes, which could serve as a starting point for a concrete discussion
> > on this point. These algorithms are certainly also not new and hence
> > been implemented several times in the past.
> 
> Ok, how about to implement the Manocha's method for a generic 6dof structure?
> 
Of course! One of the reasons behind Orocos was to provide a framework in which
different algorithms could really be compared. Before starting such an
implementaiton, though, we should get the infrastructure (maths, class
definitions, etc.) in a useable and reasonably complete state. So, this is the
number one priority. Of course, thinking about particular implementations at
the same time is very useful :-)

> [...]
> I'm trying to understand how is structured the lrl library. Maybe it could be 
> helpful some kind of guide because I'm a bit lost of the structure. There's 
> some information about that?

Basically, the kinematics are in "chains" and "frames".  And, ironically but
sadly, in the motioncontrol tarball...
The other directories in LRL contain material that we will either eliminate or
put somewhere else.  The "motion" subdirectory contains some interpolator
algorthms. These will go to the (not yet existing) "external kinematics"
module.

Herman