Only released in EOL distros:
Package Summary
A specific shadowhand package derived from arm_kinematics, for computing both forward and backward kinematics for the fingers except thumb. Solution is analytic. Developed as an alternative to arm_kinematics that cannot solve coupled joints.
- Author: David LU, adapted for ShadowHand by Guillaume WALCK
- License: BSD
- Source: bzr lp:sr-ros-interface/stable (branch: release)
Package Summary
A specific shadowhand package derived from arm_kinematics, for computing both forward and backward kinematics for the fingers except thumb. Solution is analytic. Developed as an alternative to arm_kinematics that cannot solve coupled joints.
- Author: David LU, adapted for ShadowHand by Guillaume WALCK
- License: BSD
- Source: bzr lp:sr-ros-interface/fuerte (branch: release)
Package Summary
A specific shadowhand package derived from arm_kinematics, for computing both forward and backward kinematics for the fingers except thumb. Solution is analytic. Developed as an alternative to arm_kinematics that cannot solve coupled joints.
- Author: David LU, adapted for ShadowHand by Guillaume WALCK
- License: BSD
- Source: git https://github.com/shadow-robot/sr-ros-interface.git (branch: groovy-devel)
Package Summary
A specific shadowhand package derived from arm_kinematics, for computing both forward and backward kinematics for the fingers except thumb. Solution is analytic. Developed as an alternative to arm_kinematics that cannot solve coupled joints.
- Maintainer status: maintained
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: David LU, adapted for ShadowHand by Guillaume WALCK
- License: BSD
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface/issues
- Source: git https://github.com/shadow-robot/sr-ros-interface.git (branch: hydro-devel)
Overview
sr_kinematics currently contains a specific analytical inverse kinematics for the shadow_robot hand. Currently, only the 4 fingers have an IK solution, the thumb will come later. The solution takes care of the coupled joint J1/J2 (assuming it is 1:1) and accepts 3D requests (instead of 6D). There is an approximation in this solution.
Detail of the solution
Approximation
The developed IK uses an approximation of the fingertip center to create a virtually simplified 2 links (3 dof) kinematic chain. The method considers the isoceles triangle formed by the coupled joint to solve the inverse kinematics.
Limits
- Because the finger chain (J4+J3+J1/J2) provides only 3 dof, the request only takes the position of the finger tip into account (no requested orientation can be reached).
- The Little finger joint 5 (inside the palm) is not considered either.
- IK for the thumb is not solved by the current version.
ROS API
Services
The node proposes the same services and parameters as the arm_kinematics
NOTE that epsilon parameter is used to detect singularities for J4 joint.
