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Enhance RM75 IK Solver with Joint Limit Regularization and Step Bounds

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YikaiFu-cart
2026-07-10 13:26:07 +08:00
parent 0d7e30cb7b
commit fcb0fec1ef
9 changed files with 1088 additions and 110 deletions
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10
xr_rm_bringup/config/dual_arm_rm75.yaml
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@ -57,6 +57,11 @@ left_arm_teleop:
max_angular_acc: 2.0
joint_max_speed: 180.0
joint_max_acc: 180.0
# QP 内部正则与单次迭代步长。较小的 motion weight 会让对应关节更积极参与。
qp_w_limit_mid: 0.00002
qp_joint_motion_weights: [0.3, 0.3, 0.5, 1.0, 1.0, 1.0, 1.0]
qp_joint_step_limits_rad: [0.10, 0.08, 0.08, 0.05, 0.05, 0.05, 0.05]
move_to_initial_pose_on_connect: false
initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
@ -112,6 +117,11 @@ right_arm_teleop:
max_angular_acc: 2.0
joint_max_speed: 180.0
joint_max_acc: 180.0
# 与左臂采用相同初值，保留独立配置入口便于后续分别调参。
qp_w_limit_mid: 0.00002
qp_joint_motion_weights: [0.3, 0.3, 0.5, 1.0, 1.0, 1.0, 1.0]
qp_joint_step_limits_rad: [0.10, 0.08, 0.08, 0.05, 0.05, 0.05, 0.05]
move_to_initial_pose_on_connect: false
initial_joint_pose: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67]
initial_tcp_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]