[Solved]: 5 DOF and MoveIt IK
Hello
Anybody worked with 5 DOF arm with MoveIt!? I have tested with IK-Fast plugin, TRACK-IK, and KDL. The translation movement looks good, but the orientation is having issues most of the time. It is not changing in most of the situation, especially when we move the robot to some distance and try to change the orientation.
At the beginning of Rviz session, we can able to change the orientation, but at the time, translation is locked. Anybody is having similar issues?
I am working using Kinetic, Ubuntu 16.04 LTS
Are you sure this isn't just an issue with the limited kinematics for a 5-DOF arm? Unlike a 6-DOF arm, for a given 3-DOF position, you cannot reach any arbitrary orientation with a 5-DOF mechanism (unsurprisingly, at most you can only specify 5 parameters for the EE).
Thanks for the reply.
It's not with the limitation of kinematics. The problem is, 5 parameters of the EE is not available always. For eg. If we change one orientation a little and move to the y-direction, it will not move.
Have you tried using the MoveIt RVIZ plugin to select random valid poses and planning trajectories to them, this will test if the planner is having difficulty reaching things it should. I'll second @jarvisschultz it sounds an awful lot like you're setting a goal pose that the robot cannot reach
Yea, I have tried that. If we use random valid pose, it will select the valid pose and will execute it. It's in a different orientation and different places. What we need is the orientation in a specific area. It seems like a robot cannot reach that pose. We found a hack for it. Will post it.