Inverse Kinematics for Dexarm Robot

[tingofurro]

Does anyone have the equations for inverse kinematics?

I am working on integrating the Dexarm robot into PyBullet (and the URDF files provided here were very useful).
I've made some progress, and now I have a working, moving robot with the suction end effector working.

I am now looking to get the equations for inverse kinematics, and then I am hoping to publish the working robot simulation.

It is mentioned in the firmware update ( https://www.rotrics.com/blogs/news/the-latest-software-and-firmware-for-dexarm ) that it's been updated and open-sourced, but I cannot find the equation.

Thank you, and great work on the URDF!

[ybisk]

Leaving this open so that people see it when they search and maybe contribute :) but I don't have anything. Have you also asked in the discord? I've been too busy with teaching recently to play around more unfortunately, but please keep me updated 🤞 or let me know if you want to collab on coming up with something!

[ybisk]

Nevermind, I assume you're bla on Discord, I would also try emailing info@rotrics.com if you haven't already

[tingofurro]

Hey Yonatan,

I actually ended up implementing it myself, it wasn't too difficult.
I'm now adding a few final features and will make the repo public on Github afterwards, I'll add the link in this thread if others are interested.

Thanks again for putting all this together... it was very useful!