some problem about orocos_kdl/examples/chainiksolverpos_lma_demo.cpp

[zilong-ding]

i changed the robot model whih is puma560 to test my own robot model,but the result is almost 10% cases failed. is that possible

Chain ABB6700() {
		Chain ABB;
		// joint0
		ABB.addSegment(Segment("base",Joint(Joint::None),
			Frame::DH_Craig1989(0.0, 0.0, 0.780, 0.0)
		));
		// joint1
		ABB.addSegment(Segment(Joint(Joint::RotZ),
			//Frame::DH_Craig1989(0.0, 0.0, 0.780, 0.0)
			Frame::DH_Craig1989(0.0, 0.0, 0.0, 0.0)
		));
		// joint2
		ABB.addSegment(Segment(Joint(Joint::RotZ),
			Frame::DH_Craig1989(0.320, -PI_2, 0.0, -PI_2)
		));
		// joint3
		ABB.addSegment(Segment(Joint(Joint::RotZ),
			Frame::DH_Craig1989(1.125, 0.0, 0.0, 0.0)
		));
		// joint4
		ABB.addSegment(Segment(Joint(Joint::RotZ),
			Frame::DH_Craig1989(0.200, -PI_2, 1.1425, 0.0)
		));
		// joint5
		ABB.addSegment(Segment(Joint(Joint::RotZ),
			Frame::DH_Craig1989(0.0, PI_2, 0.0, -PI)
		));
		//joint6
		ABB.addSegment(Segment(Joint(Joint::RotZ),
			Frame::DH_Craig1989(0.0, PI_2, 0.200, 0.0)
		));
		// joint7
		ABB.addSegment(Segment(Joint(Joint::RotZ),
			Frame::Identity()
		));

		return ABB;
	};

DRobot Tye:IRB6700_200260
idistance umit:mm
iangle umit:degree
DRx(alpha)Tx(a)Rz(theta)Tz(d)
KinematicBaseFrame:[[1000][0100][0 010][0 0 0.78 1]]
D[D Theta A Alpha]
Frame1:[0.0，0，0.0，0]
Frame 2:[0.0，-90，320.0，-90]
Frame 3:[0.0，0，1125.0，0]
Frame 4:[1142.5，0，200.0，-90]
Frame 5:[0.0，-180，0.0，90]
Frame 6:[200.0，0，0.0，90]