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 | 1 | initial version |
If you only consider the arm (not the base), it has 5 controllable joints according to this page ("arm joint 1-5"), plus one fixed joint. This makes it 5DoF.
Not sure what you mean by "redundant joint"; the way I understand the term, _if_ you have a (6 + _n_) DoF manipulator (which the youbot doesn't), you have _n_ redundant joints (since you only need 6 of the joints to find an inverse kinematic solution).
Since the youbot arm only has 5 joints, ikfast probably can't compute a transform6d IK (that's why it says "need 6 joints"). You can try specifying a translationdirection5d iktype instead; I'm currently trying to do that, but ran into trouble; I'll probably ask a question about how to get translationdirection5d working later today.
| | 2 | No.2 Revision |
If you only consider the arm (not the base), it has 5 controllable joints according to this page ("arm joint 1-5"), plus one fixed joint. This makes it 5DoF.
Not sure what you mean by "redundant joint"; the way I understand the term, _if_ if you have a (6 + _n_) n) DoF manipulator (which the youbot doesn't), you have _n_ n redundant joints (since you only need 6 of the joints to find an inverse kinematic solution).
Since the youbot arm only has 5 joints, ikfast probably can't compute a transform6d IK (that's why it says "need 6 joints"). You can try specifying a translationdirection5d iktype instead; I'm currently trying to do that, but ran into trouble; I'll probably ask a question about how to get translationdirection5d working later today.
| | 3 | No.3 Revision |
If you only consider the arm (not the base), it has 5 controllable joints according to this page ("arm joint 1-5"), plus one fixed joint. This makes it 5DoF.
Not sure what you mean by "redundant joint"; the way I understand the term, if you have a (6 + n) DoF manipulator (which the youbot doesn't), you have n redundant joints (since you only need 6 of the joints to find an inverse kinematic solution).
Since the youbot arm only has 5 joints, ikfast probably can't compute a transform6d IK (that's why it says "need 6 joints"). You can try specifying a translationdirection5d iktype instead; I'm currently trying to do that, but ran into trouble; I'll probably ask a question about how to get translationdirection5d working later today.
UPDATE: I've solved the problem I mentioned above; see this moveit-users post if you plan on creating a TranslationDirection5D ikfast plugin.
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