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The inverse kinematic solution code of so-100 #678

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gxy-TJU opened this issue Feb 4, 2025 · 4 comments · May be fixed by #1001
Open

The inverse kinematic solution code of so-100 #678

gxy-TJU opened this issue Feb 4, 2025 · 4 comments · May be fixed by #1001
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question Requests for clarification or additional information robots Issues concerning robots HW interfaces

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@gxy-TJU
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gxy-TJU commented Feb 4, 2025

Are there any code of inverse kinematic of so-100, which just need the input of the x, y on my desk, then it can move to the target
coordinate？
Thanks for any response.
@helper2424
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We were discussing it, but I think that nobody started developing it. It should be pretty - just like 2/3 lines of code.

The only important note is that during the building leader arm for SO-100 we remove on gear, so the instruction should adapted to have inverse kinematics.

@Davegdd
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Davegdd commented Mar 5, 2025

I second this, supporting a traditional control method would be superuseful. I tried but could not make it work with my arm.

@satvikahuja
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+++

@imstevenpmwork imstevenpmwork added question Requests for clarification or additional information robots Issues concerning robots HW interfaces labels Apr 7, 2025
@leo-berte
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leo-berte commented Apr 19, 2025 •
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Hi! I noticed this issue and wanted to share that I’ve implemented inverse kinematics support, including:

  • Forward kinematics via DH parameters.
  • Analytical Jacobian computation.
  • Inverse kinematics using Damped Least Squares (DLS) to avoid singularities.
  • Pose interpolation: linear (position) + SLERP (orientation)

Submitted an upgrade here: #1001 🚀

@leo-berte leo-berte linked a pull request Apr 19, 2025 that will close this issue
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@helper2424 @imstevenpmwork @leo-berte @gxy-TJU @Davegdd @satvikahuja