Working on sainsmart robotic arm 6dof

asked 2020-10-27 11:41:45 -0500

lucasrebra gravatar image

Hi, I'm working in this robotic arm and trying to integrate it in ROS. I'm new working with ROS and some things are difficult for me. This robotic arm have a "problem" and the problem is that has a close chain on it. This is a problem because you can't work only with an URDF, so it obligates you to apply Inverse kinematics that complement the robot and trying after to simulate the robot with the piece taht we have eliminated. I don't know how to implement the movement of the joint depending on two other joints. I have calculated the inverse and forward kinematics of the robot, but I don't know what to do next. I heard about compute_ik and compute_fk services. I want to know how to implement the joint angles after calculate them with a node into the robot. I don't know if that could be applied with moveit. I will thank a good answer, I have been searching for a good response on the internet for weeks but it's imposible to find nothing

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