Using Kinematics library

[vp8181]

Hey i am trying to use the kinematics library,can anyone help me with the parameters for the forward and inverse function. I have my robotic arm dh diagram . I need help with understanding the functions and it input parameters. So that I can get the desired output ( forward- xyz) ( inverse - angles)
The library link-

kousheekc/Kinematics/blob/master/src/Kinematics.cpp

It has forward and inverse example.

[johnwasser]

I looked at the library, its documentation, and its examples and I don't see any clear description of how to generate the six configuration parameters for each axis.

The kinematics function takes the layout of the device and the angle of each axis and tells you the position and orientation of the end effector in 3D space. The inverse function takes the desired position and orientation in 3D space and tells you to what angle you should move each axis.

[jremington]

Agreed. Completely useless library. There is not a single helpful line of comment, anywhere in the code or the example.

[vp8181]

I had mailed the library inventor @kousheekc
He has replied me once. Let's hope for some more. It would be really great if he updates the library so that it would be really helpful for everyone.
I would request you sir @jremington @johnwasser
Can you please request the person to come here and try to explain or just update the library
Thankyou you so much sirs for your replies

Edit 1

Any other way i can do my forward and inverse kinematics in an easy way .

[jremington]

I doubt there is an easy way. Your machine and its constraints are different to everyone else's.

[wildbill]

Unless you really enjoy spam, you may want to remove, or at least obfuscate your email address.

[kousheekc]

Hi @wildbill @johnwasser @jremington @vp8181, I understand that you all are facing some issues with the parameters that define the joint configurations. Unfortunately, it is practically impossible to explain these parameters through writing since that would require a thesis This is why I have referred to a course on the github page that clearly explains the parameters by means of an example. It is attached in the Acknowledgments portion of the readme.

I am linking the course here as well. I have also gone through this problem on issue #5 on the repo, you can refer to that as well in case it helps.

Link to course: http://hades.mech.northwestern.edu/index.php/Modern_Robotics
Link to issue #5: https://github.com/kousheekc/Kinematics/issues/5

[jremington]

@kousheekc: We understand that inverse kinematics is not at all trivial. But undocumented code is generally not useful to other people, as well.

Consider helping the OP define their problem for use with your library, and publish the steps involved. That way, someone else might be tempted to take a second glance at your efforts.