Setting up Franka IK with OPW Parameters
Closed this issue · 4 comments
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:
Would it be possible to get the precise measurements from the robots back in addition to the sid?
Thanks!
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
@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.
Thanks for following up @andrejpan. I think I have all the required info. I'll re-open if necessary.
Thanks!