Research Arm Inverse Kinematics

[Supernova1114]

Used for arm automation and control.

https://moveit.ros.org/ https://docs.picknik.ai/en/stable/index.html

Or use something different / or custom.

[Supernova1114]

Did some research, very cool tech. Will probably have to be a summer research project.

[Supernova1114]

Update: Cam Wolff did some research. Looks like MoveIt will be the easiest way to get IK working for the arm.

[Terracom12]

@Supernova1114 Unsure how much this has already been looked into, so I'll just lay out what I've found.

MoveIt has a guide specifically tailored to the type of movement it seems we're after. The image below shows the controller configuration in the out-of-the-box example. The guide for this setup can be found on this MoveIt documentation page.

To get this working:

• [ ] Configure controller
  • 8BitDuo has strange configurations for the left and right triggers in that their outputs range [-1, 1], which should probably be mapped [0, 1]
• [ ] Setup arm geometry and constraints.
  • Guide here. Haven't looked much into this yet.
• [ ] Docker integration (?)
  • Here's the official guide on setting this up. I managed to get this working very easily on my Debian machine.
  • NOTE: This Docker configuration is very bulky, meant for working on a system with a GUI (rviz). However, it should be fairly simple to create a custom lightweight image.

[Supernova1114]

Research move-it studio