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Can you seperate a Inverse Kinematic Model with Move it setup assistant?

asked 2019-08-04 05:32:10 -0500

Meric
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 roslaunch moveit_setup_assistant setup_assistant.launch

As you know there is a Moveit setup assistant interface for creating moveit packages. In my case I would like to generate a inverse kinematics model from existing model. In other words I have a UR5 robot that I am using in my simulations with Moveit. UR5 robot is 6 DOF robot. But I would like to make a inverse kinematics model with only last 3 Joints of this robot. Is it possible?

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answered 2019-08-04 10:23:16 -0500

gvdhoorn
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But I would like to make a inverse kinematics model with only last 3 Joints of this robot. Is it possible?

The MoveIt Setup Assistant doesn't generate any IK or FK solvers.

So the answer would be "no".

It is however possible to create a group of 3 joints only with the MSA. You'd still have to find / write / generate an IK solver though.

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Thank you for your answer but It is not clear for me, I made a 3 joint group with MSA. In this tutorial link under "Define Planning Groups" and set the Kinematic solver as kdl_kinematics_plugin.

http://docs.ros.org/kinetic/api/movei...

This selection will handle the inverse and forward kinematics for this group right?