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drake
Junhyeok Ahn
Junhyeok Ahn

Reputation: 83

Velocity level constraints on the inverse kinematic trajectory

I have a question about inverseKinTraj class. It seems to return qsol as well as qdotsol and qddotsol and I would like to add velocity constraint on the time step. For example, I would like to add A(q(t))*qdot(t) = Constant and (q(t+1)-q(t))/dt=qdot(t+1). Is there any way I could impose velocity level constraints on the inverse kinematic trajectory?

Upvotes: 0

Views: 127

Answers (1)

Hongkai Dai
Hongkai Dai

Reputation: 2766

inverseKinTraj doesn't offer the API for constraint A(q(t)) * qdot(t) = constant. Moreover, inverseKinTraj assumes that the trajectory is a piecewise cubic spline (namely it has continuous joint velocity/acceleration), so we cannot do the backward Euler integration (q(t+1) - q(t)) / dt = qdot(t+1), which doesn't give a continuous joint velocity/acceleration.

Upvotes: 1

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