Inverse kinematics for 5dof arm
I've removed a joint from a 6dof arm and am trying to use it as a 5dof arm.
When using moveit I've learned that I need to have allow approximate solutions checked however there isn't a way to set this programatically for cartesian coordinate solutions with the moveit api. I'm only able to set joints to approximate solutions individually.
The joint removed was only a only a rotation joint because I have I guess what would end up being a katana style arm and do not care about the rotation of the end effector relative to the object it is approaching.
After learning I couldn't use the default planner I tried using the IKfast plugin to generate a Solver for a 5dof arm. I created the files needed to create an IKfast solver per documentation however this failed. Even when I tried using a few other solutions found on other posts such as https://answers.ros.org/question/1967...
Is there some qucik-ish way for me to I guess trick the solver into believing it can still execute the trajectory even though there isn't this 6th rotation joint?
Let me know if I need to provide any files to help explain.
Could you not set it up so the solver was working with the 6dof arm but the final joint is ignored by a ready 5dof arm. This means the solver will always find a solution but the robot will not actuate the final irrelevant angle.
This is what I was thinking about doing but I keep getting errors saying unable to find the required joints and haven't had time to look through the software yet to make some edits. Most likely it is what I will end up doing but I was looking for any other suggestions as well.