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Hi Guys! Can we give cartesian coordinates as input using MoveIt KDL or any package?

asked 2017-03-13 05:31:05 -0500

SaiKumar gravatar image

We designed 4 Dof robotic arm using solid works.We converted Solid works file into urdf file using sw2urdf exporter.Later we created moveit package. Now we will get target interms of Cartesian coordinates, the end effector should reach the target position. Can we able to do that using KDL or any other packages?

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answered 2017-03-13 07:15:17 -0500

rbbg gravatar image

If I understand you correctly, you want to plan towards Pose goals. I would suggest you work through the Moveit! tutorials to learn how to use it. Other options are available as well but I think MoveIt! is probably a good place to get started.

Good luck!

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answered 2017-03-13 18:59:46 -0500

bhavyadoshi26 gravatar image

As mentioned in this answer and the links given in it, KDL will work well for DOF more than 5. Since you have a 4 DOF arm, you can try to create an IKFast plugin following this tutorial. It seems that IKFast will suit your application better.

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Last updated: Mar 13 '17