andyzeng/ikfastpy
Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.
This helps robotics engineers and researchers precisely control a UR5 robot arm's movement. You provide the desired final position and orientation for the robot's gripper, and it calculates all the necessary joint angles. This allows for real-time motion planning and complex tasks like closed-loop grasping.
256 stars. No commits in the last 6 months.
Use this if you need to quickly and accurately calculate the joint angles required for a UR5 robot arm to reach a specific end-effector pose.
Not ideal if you are working with a robot arm other than the UR5 (though it can be modified) or if your application frequently requires solutions for singular robot poses.
Stars
256
Forks
68
Language
C++
License
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Category
Last pushed
Apr 28, 2019
Commits (30d)
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