Hi,<br><br>I have a question regarding the inverse kinematics using KDL.<br><br>I would like to use carttojnt of the inverse kinematics solver. <br>The problem is I have to use a destination frame as input. <br>I&#39;m using something similar to a elbow manipulator so you can imagine I only want a reference position. <br>

The arm only can have 2 poses to a reference position, to get the rotational part of the frame I actually have to get the joint positions to calculate it (correct me if I&#39;m wrong).<br><br>So <br>1. Am I right?<br>2. Could I use KDL to compute the IK or should I use an analytic solution?<br>

<br>Thanks in advance.<br><br>Jeroen<br><br><a href="http://www1bpt.bridgeport.edu/~risc/html/proj/damir/img00015.gif">http://www1bpt.bridgeport.edu/~risc/html/proj/damir/img00015.gif</a><br>