How to make an IK solver for 3 DOF robot arm?

asked 2019-09-04 02:06:39 -0500

Mano gravatar image

They say, Moveit inbuilt IK solver doesn't support less than 6 DOF arm. So how to make an IK solver for 3 DOF robot arm? Also I'm new to ROS. Is it even possible to use moveit for 3DOF robot arm?

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You could see whether the approach I've used in #q263925 works for 3dof as well (by specifying the appropriate solver type). Whether the resulting plugin works with MoveIt is a different question.

An alternative would of course be to write the code yourself. For a regular 3dof it shouldn't be too hard to come up with a closed form solution, provided the kinematics aren't too custom.

gvdhoorn gravatar imagegvdhoorn ( 2019-09-04 04:00:01 -0500 )edit