frankaemika/docs

Setting up Franka IK with OPW Parameters

Closed this issue · 4 comments

fishbotics commented

Hi all,

I'm trying to set up the Franka to be used in the OPW inverse kinematics library. I'm not 100% sure that the Franka fits the requirements, but when I look at the DH parameters image on the Franka page, I can't quite get all the parameters.

As far as I can tell, OPW needs parameters from the back and side views of the robot measurements of offsets, etc.

Here is their example schematic:
image

Would it be possible to get the precise measurements from the robots back in addition to the sid?

Thanks!

fishbotics commented

FWIW, this is the Franka image I found in the documentation:
image

marcbone commented

You could just pretend that the joint axis are on the marked locations. For example if you pretend that the 3rd joint is at 0.333+0.316 meter height, it should still work since this does not affect the result of the Inverse kinematics

andrejpan commented

@fishbotics did you find all the required information so far? I there is no reply in a week of time we would close this issue.

fishbotics commented

Thanks for following up @andrejpan. I think I have all the required info. I'll re-open if necessary.

Thanks!