ooh-wee. that's pretty fantastic work. love the name as well. 

This is basically nowhere as sophisticated but I did a series of kinematic rotations of a universal joint using a Rhino plugin.

http://formpig.com/blog/?p=4001

look forward to following this work.

Philipp - not a stupid question at all. The inverse kinematics problem can be solved for much more general systems, but generally requires the use of considerably more complex techniques, such as cyclic coordinate descent and the Jacobian matrix.

I did actually post an IK solver using Galapagos some time ago, and in theory this could indeed work with any axis setup, but it is an extremely inefficient way to solve the problem compared to the above methods - taking minutes to get a solution which is still only approximate - not very practical if you have to do it for every tiny movement of the robot.

The sort of geometric closed form solution Lobster uses would be different for each kinematic setup, and in some cases would not be possible, but it is very fast and relatively intuitive.

Fantastic, and inspiring. I've built a version as well... certainly cruder, but a very interesting challenge [My version]. The concept of linking Rhino objects to the GH definition to represent the robot itself was very clever.

Thanks

hi Daniel, I've just added another video of Lobster simulating the forming of curved folds in sheet material.

Curved Folding Fabrication Simulation - using Kangaroo and Lobster ... from Jeg Dudley on Vimeo.

Coming back to the general inverse kinematics problem, did you have the paper

L. Sciavicco and B. Siciliano. A solution algorithm to the inverse kinematic problem for redundant manipulators. IEEE J. Robot. Automat., 4(4): 403-410, 1988

in mind or what are your preferred methods?

What paper does use "cyclic coordinate descent"?

I'm a PhD student in automation engineering and robotics so working on a solution using Rhino + GH would be quite interesting.

Thanks,

Hello!!,

My external axis for my Kuka Robot is done, now the lobster software need to deal with, and GH.

Hi Freddy,

Lobster certainly could be extended to work with 7 axis systems. Could you be a bit more specific about what stage you are at now, and how you are hoping it would work ?

I want to do this:

http://www.youtube.com/watch?v=UjMJOfCyDaA

Thanks to Lobster Plugin, I made a fully lobster integrated script to move my home made robot arm.

http://www.grasshopper3d.com/video/home-made-robot-arm-iphone-contr...

&

http://www.grasshopper3d.com/video/description-of-grasshopper-scrip...

@Kenneth - neat! thanks for sharing

Some components like Orient, Rotate are old. I have replaced with the newer ones.

Here are the links of the files. 

Again! Use at your own risk. I accept no responsibility if you break your robot! :)

Lobster_IK1.3dm

Lobster_IK1.ghx

Hi,

    I tried a sample file in KukaPRC and output the SRC to a KRC1 Robot:

Kuka PRC with KRC1 from Freddy Chang on Vimeo.

How do I output SRC from Lobster?

thanks,

Hi Greg,

           Apart from files Lobster IK1.3dm and Lobster IK1.ghx is there a gha file to place in the special folder ---> components folder in GH?.

I want to use lobster to lay bricks, what would the price for the post?

https://vimeo.com/22196011

cheers,

Freddy

Hi Freddy, we can build you a post - and integrate it into the simulation as well. I'll message you and we can discuss. Greg

Hello Greg,

               Invitation accepted.

Hi Daniel , this looks great , I wanted to ask is the one for the universal robots available. 

Daniel (or other Lobster people),

I'm looking for a way to find Euler angles from two planes. In an older discussion, you posted something about Euler angles in Lobster:

http://www.grasshopper3d.com/forum/topics/cam-plugin-for-three-axis...

I tried posting this question there, but I think that discussion has been forgotten. The ghx file I got from here didn't seem to have them, but maybe I'm missing something? I think I can figure out the math, but I thought I'd see if someone else had already done my work for me. Thanks!

Trygve

Hello guys, I want to use lobster for your robot Mitsubishi RV-M1, but it is impossible to connect the axis kinematics. If someone has already figured out, please help me to understand. Can discuss payment. Waiting for help...Lobster_IK1%20%281%29.3dmLobster

_IK1%20%D0%BC%D0%BE%D0%B9.gh