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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:
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. |