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Hello, I'm working on controlling a Fanuc crx-10ia/l for an object detection application, I have the cartesian coordinates of the detected objects I would like to get the joint angels for the robot to reach those coordinates, are there any ros programs or libraries that can make the process simpler is there a way to move the robot to the cartesian point without using IK ?
You could take a look at http://wiki.ros.org/trac_ik to see if it meets your needs.
Have you considered trying MoveIt?
I'm still trying to learn how to use it and from what I research it is the most popular answer, but what I want to do is to create a simple publisher that I can feed the object coordinates and it sends the joint values to the robot, I also I want to know if there are libraries or packages that you recommend that can make the process easier.
Asked: 2022-05-26 23:07:54 -0500
Seen: 253 times
Last updated: May 29 '22
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Have you done a search for
fanuc_driver_expon this site? The driver's control API looks minimal, so it's your responsibility to somehow get the IK calculations done. Question #q271864 may give you some helpful info, even though it's discussing a different model.thank you for your replay, this driver's lack of control options was one of the reasons I asked this question, I m wondering if there are any ROS tools that I can use for IK even separate from the drive that I can feed the data of the robot and the point I want to move to and get the results