[ros-users] IK with KDL

Hi,

I have a question regarding the inverse kinematics using KDL.

I would like to use carttojnt of the inverse kinematics solver.
The problem is I have to use a destination frame as input.
I'm using something similar to a elbow manipulator so you can imagine I only
want a reference position.
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'm wrong).

So
1. Am I right?
2. Could I use KDL to compute the IK or should I use an analytic solution?

Thanks in advance.

Jeroen

http://www1bpt.bridgeport.edu/~risc/html/proj/damir/img00015.gif