ikfast for selfmade arm
It said >5 points required to upload a picture, so I have to draw my robot arm here.
| |
| | ---> joint4 y axis rotate
| |
| | ---> joint3 y axis rotate
| |
| | ---> joint2 y axis rotate
+ - - - - +
| | ---> joint1 z axis rotate
+ - - - - +
Hope it is clear! As you can see this robot arm DOF is 4, so moveit kdl can't work well with it, and I can't move the interactive marker in rviz.
So I try to use ikfast to solve this problem. Actually, I don't know which IK type is suitable for this case, so I tried TranslationX(Y/Z)AxisAngle4D.
But without luck, after I configure the moveit plugin successfully, still I can't move interactive mark. My question is what type of IK should I use? Thanks!
Might be similar to the default open manipulator configuration. Did openrave have a valid solution for any of the Translation*AxisAngle4D? Did the test succeed?
Btw you should now have some points ;)
@Humpelstilzchen, If I am correct, the open manipulator doesn't have joint1 which can rotate around the z-axis. Yes, for all 3 Translation*AxisAngle4D, the test are success with such output,
@Humpelstilzchen, Sorry, I don't understand "have some points",
I have four files available in the output directory:
points on answers.ros.org. The first axis on openmanipulator is rotating about upwards axis which is z in my coordinate system. Does your generated *ikfast_moveit_plugin.cpp have code in "case IKP_TranslationZAxisAngle4D"? (also X any Y)
@Humpelstilzchen, apologize, you are correct, the first joint of the open manipulator is rotating about the z-axis. Yes, it has such case, and I also cherry-picked this MR, so it loos like this for Y Axis case:
Hi,I am using iktype=translationxaxisangle4d,but I always get the error:CannotSolveError(some equations are not consistent with the ik,double check if using correct IK type),do you know why,my friend
Can I use your description of the arm to raise a new question? | | | | ---> joint4 y axis rotate | | | | ---> joint3 y axis rotate | | | | ---> joint2 y axis rotate + - - - - + | | ---> joint1 z axis rotate + - - - - +