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2019-05-20 01:06:19 -0500 marked best answer Control the base with the trajectory of MoveIt?

Hi,

I am working with Iiwa(7 DoF) + Omnirob(Omnidirectional platform). My task is making them fullfill mobile manipulation tasks, this means making the platform and arm move synchronously for a certain task.

In order to plan the trajectory I am using moveit. For the planning of the platform trajectory we have two options:

  1. Creating a P,P,R joints to define the movement of the platform. Each prismatic joint would refer to X and Y and the revolute would be the theta movement.

  2. Define a virtual planar joint from base to /odom_combined.

In my case I used the {P,P,R} joints to plan the trajectory. So basically I am planning for 3(base) + 7(arm) joints group in Moveit.

Once the plan is done I would have a trajectory in {X,Y;Theta; T} for the base, and a similar one for the arm with each Joint.

My problem comes now.

As far as I know, there is no any controller for the base of the robot that allows you to provide a trajectory(vector of positions with time stamp), but only we can provide a path, as move_base does.

I wonder if anybody knows any controller for omnidirectional platforms in order to provide a trajectory created in moveit {X,Y,Theta,T}. In case not, whats the usual approach for omnidirectional mobile manipulators for synchronous base-arm manipulation?

Thanks alot!

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2018-04-11 02:13:33 -0500 answered a question Control the base with the trajectory of MoveIt?

Hi again, I found an easy solution in the base of ROS. Basically, I considered my base joints(PPR) as aregular joint

2018-03-08 05:29:49 -0500 edited question Control the base with the trajectory of MoveIt?

Is there any mobile base controller with a trajectory interface? Hi, I am working with Iiwa(7 DoF) + Omnirob(Omnidirect

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2018-03-08 05:27:10 -0500 edited question Control the base with the trajectory of MoveIt?

Is there any mobile base controller with a trajectory interface? Hi, I am working with Iiwa(7 DoF) + Omnirob(Omnidirect

2018-03-08 04:31:34 -0500 asked a question Control the base with the trajectory of MoveIt?

Is there any mobile base controller with a trajectory interface? Hi, I am working with Iiwa(7 DoF) + Omnirob(Omnidirect

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2017-03-19 06:16:22 -0500 answered a question Attach two links of an object to two links of the robot

Hi all,

I have already found a solution!

This package is super easy to use and let you attach all the links you need!!

https://github.com/pal-robotics/gazeb...

Bests,

Julen U.

2017-03-17 14:44:28 -0500 asked a question Attach two links of an object to two links of the robot

Hello all,

I am working with a humanoid robot for transportation of objects.

My objective is to simulate the grasping with both hands of a table from two different links.

As grasping is giving some problems I wanna attach the hand links to the table lnks in a certain manner.

In the first approach I developed a Spring-damper model, but I need a better attaching where a movement of one link, means the movement of the other.

I didnt find any solution.

All sugestions are welcome!!

Bests,

Julen U.