IKDH is an Inverse Kinematics solver based on the Denavit–Hartenberg convention that enables finding all configurations for a given end-effector pose.
The library has been developed at the CoRo Lab by Axel Refalo to support kinematic analysis through the web interface as well as fast computation in Python and C++. It is strongly based on the HuPf algorithm [1] and [2].
To use the web interface you can load a .robot file from the RoboDK Robot Library or select an already available morphology. When a robot is loaded or selected, its Jacobian and joint limits are printed in the terminal.
You can then add a tool with add, find all IK solutions with solve, and further analyse proximity to singularities with the translation and orientation manipulability ellipsoids.
Terminal commands also enable Cartesian and joint motion. See the help command for the full list.
[1] M. Husty, M. Pfurner and H.-P. Schröcker. A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator, Mech. Mach. Theory 42: 66–81, 2007.
