Changing the position message that is sent by Moveit

asked 2020-12-22 10:20:45 -0500

lucasrebra gravatar image

Hi developers,

I am working in the 6dof sainsmart robot with ros kinetic and simulating in gazebo with the use of moveit. I am still working in the simulation. I set up the simulation following some tutorials and the book Mastering Ros for robotics of Lentin Joseph. The simulation works with moveit but I have an issue that I want to solve. This type of robot have a parallel estructure, what is known as a close chain kinematic with a motor located on the base of the robot. This make the upper arm of the robot to have the same orientation that has the link of the base of the motor, I think you can understand it better with the photo of the robot, which you can see in this web(I don't have the points required for ataching images in posts):

I need to obtain the joint angle by the combination of the other two in order to obtain a real simulation. I don't know how to do it. I don't know how to use the calculations made by the moveit for the panning trajectory in order to change them and apply them in simulation as it will do the real robot because of the close chain. Now in the simulation I don't have the close chain so it is actuating as a tree chain robotic arm with the physical restrictions. I hope someone could help me with this, I'm a little bit desperate.

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