Thanks Seulki, I'll follow your suggestion!
Posts by pisi96
-
-
Hi OlivierRMD,
Thank you for your reply. I will try to use the method you described next week as I'm gong to Bristol to the TAROS Conference tomorrow. I will let you know if it works.
What would you like to know about the project? It is based on a previously successful installation at the No Bounds festival 2017. I am working for Sheffield Robotics and Audiovisual artist Mark Fell to develop an interactive robotics art installation for Festival of the Mind 2018 (Sheffield, UK). The exhibit, titled “Generative Approaches to Robotic Movement and Vocal Synthesis”, will feature a collaborative robot whose movement will be mapped to synthesised audio. The work aims to engage a broad audience in an open, absorbing and thought provoking manner, and to explore and confront attitudes towards robotics, automation and technology.
-
Hello everyone,
I am working with the Kuka iiwa robot for an art project. An artist wants to control the robot using sound inputs. The kuka robot that I am using came with a ROS API that made my life so much easier.
However I have realised that this API has some limits, for example when a target frame is sent to the robot and if this frame reaches the joint limits the robot will just freeze until I manually reset it from the smartPad.
Now since it is the artist that will send the inputs and since I won't be there during the Art exhibition, I would like to bypass the API to make sure the robot won't stop in the middle of the exhibition. To do so I thought about creating an Inverse kinematics model that will compute the joint angle corresponding to the target frame, and at that point I'll make sure the robot will never reach the joint limitation, preventing it from freezing.Anyway before, creating the mathematical model, which is quite tedious (considering this is a 7 DOF manipulator) I was researching about sunrise functions that can do this for me. I came across to this function
getInverseKinematicFromFrameAndRedundancy(frame)
but i was not able to find any documentation about it.Does anyone know how to implement this function? What inputs does it take and what output does it produce?
Sorry for the wordy Message but I wanted to make sure everyone was on the same page. Thanks in advance!!
P.S I am open to suggestion, if you think there's an easier way to get the inverse kinematic solution