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Add opw parameters for KR 16 R1610 cybertech
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kuka_kr16_support/config/opw_parameters_kr16r1610cybertech.yaml
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# | ||
# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist) | ||
# kinematic configurations, as described in the paper "An Analytical Solution | ||
# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an | ||
# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur | ||
# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop | ||
# 2014, 22-23 May, 2014, Linz, Austria). | ||
# | ||
# The moveit_opw_kinematics_plugin package provides such a solver. | ||
# | ||
opw_kinematics_geometric_parameters: | ||
a1: 0.260 | ||
a2: 0.035 | ||
b: 0.000 | ||
c1: 0.675 | ||
c2: 0.680 | ||
c3: 0.670 | ||
c4: 0.158 | ||
opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0.0, 0.0, 0.0, 0.0] | ||
opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1] |