Ikfast

This page describes how to use the ikfast inverse kinematics module from openrave system.

From the openrave web site, "OpenRAVE? provides an environment for testing, developing, and deploying motion planning algorithms in real-world robotics applications." For linuxcnc, we are using the ikfast module to create the IK component, and the qtcoin display application to show the robot model.

A modified version of the openrave source is available here, https://github.com/ftkalcevic/openrave, in the "linuxcnc_gen_c" branch. See the openrave web site for details of the build dependencies, and how to build and install the package. (http://www.openrave.org/docs/latest_stable/coreapihtml/installation_linux.html)

The modified version adds a c code generator that works with linuxcnc. Use the --outputlang=c to create the c code.

The ikfast updates to linuxcnc can be found here, https://github.com/ftkalcevic/LinuxCNC, in the "ikfast" branch. There is a new src/emc/kinematics/ikfastkins.c module that uses the ikfast generated code. There is also some example configurations in configs/ikfast-demo directory.

The ikfast module is used to generate the source code for the Inverse Kinematics module for