Re: KinematicsInterface

Herman Bruyninckx <[email protected]> Fri, 9 Apr 2004 15:35:52 +0200 (CEST)

Newsgroups	gmane.science.robotics.orocos.user
Message-ID	<[email protected]>

On Fri, 9 Apr 2004, Martin [iso-8859-1] LÃŒmkemann wrote:

> We are currently implementing the kinematics-inteface for a Mitsubishi PA-10
> which is a 7R(zxzxzxz)-arm.
> 
I forgot to ask: since this is a 7DOF arm, what redundancy resolution
algorithm do you use?

For the _component_ API, the choice of redundancy algorithm is also a
configuration method call on the component. That will then select the
corresponding _class_ library to service the Kinematics calls.

Herman

-- 
  K.U.Leuven, Mechanical Eng.,  Mechatronics & Robotics Research Group
    <http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480