algorithmic modeling for Rhino
Lobster is a tool for solving the inverse-kinematics of 6-axis robot arms
Latest Activity: Jan 13
This is still a work-in-progress, with plenty of room for improvement.
I've been meaning to release this for some time - I was intending to clean it up some more and maybe compile it into a proper component first, but have been too busy with other activities, and rather than delay any longer have decided to share it in its current state.
It is a purely geometric solution, specific to this particular joint configuration, which allows kinematic decoupling, greatly simplifying things. Luckily most commercial 6-axis arms follow this configuration.
Bear in mind the angle value outputs are not yet calibrated - one would need to check the direction and start angles to make sure they corresponded with the standard format. Also, joint angle limits are not included here, but could be fairly easily added.
The example model here is a Kuka KR-150, but it is designed so that one can easily swap the input model with other robots with the same joint configuration (6-axis with a spherical wrist).
I do also have a similar definition for robots such as the ones from Universal Robots which do not have a spherical wrist, but still have certain simplifying properties allowing a closed form solution:
I'll post the setup for this one too soon.
Lobster is distributed under the WTFPL license ;)
Use at your own risk. I accept no responsibility if you break your robot!