The OpenRave and IKFast modules
OpenRave is a set of command lines and GUI tools for developing, testing, and deploying motion planning algorithms in real-world applications. One of the OpenRave modules is IKFast, which is a robot kinematics compiler. OpenRave was created by a robotic researcher called Rosen Diankov. The IKFast compiler analytically solves the inverse kinematics of a robot and generates optimized and independent C++ files, which can be deployed in our code for solving IK. The IKFast compiler generates analytic solutions of IK, which is much faster than numerical solutions provided by KDL. The IKFast compiler can handle any number of DOFs, but practically it is well suited for DOF <= 6. IKFast is a Python script that takes arguments such as IK types, robot model, the joint position of the base link, and end effectors.
The following are the main IK types supported by IKFast:
Transform 6D: This end effector should calculate the commanded 6D transformation...
