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ros-industrial / motoman_experimental

Experimental packages for Motoman manipulators within ROS-Industrial
Apache License 2.0
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IKFast plugin for MPX3500 #53

Open marip8 opened 3 years ago

marip8 commented 3 years ago

Adds an IKFast plugin for the MPX3500 model to support #51

The solver appears to be reasonably, but not completely, accurate. Using the MoveIt planning GUI, simply clicking on the interactive marker on the tool frame without dragging causes the robot to jump very slightly.

https://user-images.githubusercontent.com/18411310/117377327-a287c180-ae98-11eb-86a6-e4a61a763cce.mp4

However, for most planning purposes, the level of accuracy provided by this solver is probably adequate.

gavanderhoorn commented 2 years ago

Going through these old PRs.

@marip8: this is probably a robot which cannot be modelled using the OPW kinematic structure, isn't it?

marip8 commented 2 years ago

Correct; the offset wrist joints aren't compatible with the OPW requirements