Add opw parameters for KR 16 R1610 cybertech

Author: simonschmeisser

kuka_kr16_support/config/opw_parameters_kr16r1610cybertech.yaml

@@ -0,0 +1,20 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+  a1:  0.260
+  a2:  0.035
+  b:   0.000
+  c1:  0.675
+  c2:  0.680
+  c3:  0.670
+  c4:  0.158
+opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0.0, 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]