MoveIt! for Cartesian Robots

asked 2021-02-06 19:56:04 -0600

wafts95 gravatar image

I am interested in having path planning on a Cartesian/gantry robot with 3 Degrees of Freedom, and I was wondering if MoveIt! would work on such a robot system.

It is understood that I would have to provide a robot driver that MoveIt! could communicate with.

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Is there a reason why it would not be possible? IIRC this 2017 project used a gantry robot and MoveIt. You might have to ignore certain parts of your pose goals and possibly add a custom IK plugin (although I think KDL should be fine), but there is no reason why it shouldn't work. You can self-answer when you find a solution.

fvd gravatar image fvd  ( 2021-02-08 01:26:54 -0600 )edit