Generic Kinematic Chain.

A tutorial on how to control a generic serial kinematic chain relying only on yarp ports.

Open ports:

-) /ctrl/q:i receive the joints angles feedback [deg] from the robot -) /ctrl/xd:i receive the target pose in axis-angle format ([x y z ax ay az theta]) from the user -) /ctrl/qd:o output the joints configuration where to move (as result of the inverse kinematics) -) /ctrl/v:o output the velocity profiles that steer the joints to the final configuration [deg/s] (to be connected to the robot) -) /ctrl/x:o output the current end-effector position in axis-angle format

Author: Ugo Pattacini

CopyPolicy: Released under the terms of GPL 2.0 or later