The first recorded FLS block transfer with the new I.K. solution. Teleoperator is H. Hawkeye King of the UW BioRobotics Laboratory. He uses two Phantom Omnis to control the Raven II™ research surgical robot to perform the FLS block transfer task.
Raven II inverse kinematics implementation is now online! While there are still a few kinks to be worked out, the solution is now operable.
What's left to be resolved? Glad you asked! The biggest SNAFU so far seems to be the rollover of the "tool roll" axis around 2Pi. Basically, these boundary cases need to be identified and elegantly resolved, avoided, or worked around.
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