Hello,
i am loocking for an algorthmical solution for the forward and inverse kinematic for the LBR iiwa 14 R820.
Is there an option to read out the current DH-parameter (in case added a tool, etc. )
I get the axes position via FRI. I would like to use the axis positions to get the cartesian position, calculate a correction movement and end up with the correction in axis angle to send that back to the controler via FRI.
In the first step i am independent in program language.
Does Kuka deliver something like the kinematic algorithms?
i am look forward to your answer.