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| ==Introduction==
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| The Cartesian Interface used with Vizzy to reach a XYZ point using its inverse kinematics is based in the tutorial "Customizing the Cartesian Interface for a Generic Robot "[http://eris.liralab.it/iCub/main/dox/html/icub_anyrobot_cartesian_interface.html] by Ugo Pattacini.
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| For the Cartesian Interface to work the iCubInterface (Vizzy adapted version) needs to be running, and the desired arm, shoulders and torso ports open.
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| The interface makes use of three distinct modules. A solver which solves the motors position for a desired XYZ position given a kinematic chain. A server which controls the motors directly while it tries to confer human like movements to the robot. Finally a client which calls the server and solver methods through a defined interface.
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| ==Solver==
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| ==Server==
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| ==Client==
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| [[Vizzy|<< Back to Vizzy wiki homepage]]
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| [[Category:Robots]]
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| [[Category:Vislab]]
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