[ERROR] [sr]fail to solve inverse kinematics (please change the solver) for 7-DoF open-manipulator-p

ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS

http://emanual.robotis.com/docs/en/platform/openmanipulator/

Apache License 2.0

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[ERROR] [sr]fail to solve inverse kinematics (please change the solver) for 7-DoF open-manipulator-p #190

Closed jangerritha closed 3 years ago

jangerritha commented 3 years ago

Hello everyone,

I am working on an open-manipulator-p setup that has a third party end-effector mounted, which has an additional DoF. Following from this our kinematic chain contains 7-DoF. Three of the IK-solvers in /open_manipulator_p_libs/src/kinematics.cpp behave really strange for this setup and can't find solutions. One of the solvers Forward: ChainRule, Inverse: SRJacobianOnlyPosition works good out of the box. As I am pretty new to robotics, I am searching for paper references, but I was not able to determine any. Can anyone give a paper reference on which the implementations are based?

jangerritha commented 3 years ago

@towardthesea tagged

ROBOTIS-Will commented 3 years ago

Closing this issue as there isn't any recent activity. Please feel free to reopen when necessary.

towardthesea commented 3 years ago

Hi @ROBOTIS-Will , We are still waiting for a response from the Open-Manipulator-P developers, so please keep it open and kindly tag who from Robotis taking charge of this issue.

Thanks!

ROBOTIS-Will commented 3 years ago

Hi @towardthesea I'm afraid that we do not provide a specific guideline for a customized product. Please note that the kinematics solution is designed based on 6DOF OpenMANIPULATOR-P. If you are running on ROS, using the MoveIt tool might help you to operate your solution. Thank you.