AnalyticalInverseKinematics

class compas_fab.backends.AnalyticalInverseKinematics

Bases: InverseKinematics

Callable to calculate the robot’s inverse kinematics for a given frame.

Parameters:

clientcompas_fab.backends.interfaces.ClientInterface, optional

The backend client to use for communication.

solverstr, optional

The solver to use to calculate IK.

Notes

This works only for industrial robot arms with six revolute joints. If check_collision is True, it is required to use a client that supports "check_collision", so for now only the PyBulletClient.

Methods

inverse_kinematics

Calculate the robot's inverse kinematic (IK) for a given frame.