Search found 8 matches

by EyaR
05 Jul 2019, 12:35
Forum: General questions
Topic: Reproducing Inverse kinematic to KUKA LBR4
Replies: 1
Views: 351

Re: Reproducing Inverse kinematic to KUKA LBR4

Solved:
okay it turns out that the solution is to make the joints into inverse kinematic mode with hybrid enabled and disable explicit handling under inverse kinematic module && calculation method into DLS
by EyaR
04 Jul 2019, 17:39
Forum: General questions
Topic: Reproducing Inverse kinematic to KUKA LBR4
Replies: 1
Views: 351

Reproducing Inverse kinematic to KUKA LBR4

Hello, I'm trying to reproduce "8-computingJointAnglesForRandomPoses.ttt" for kuka LBR4p+.ttm robot for understanding how applying IK on a robot so i can apply it to a new one. I followed the Ik tutorial and here's the steps i followed to move the arm: 1- I set all the joints to Ik mode hybrid enabl...
by EyaR
04 Jul 2019, 15:13
Forum: General questions
Topic: Moving uarm gripper to Cartesian coordinate(X,Y,Z)
Replies: 4
Views: 608

Re: Moving uarm gripper to Cartesian coordinate(X,Y,Z)

Following IK tutorial and the "8-computingJointAnglesForRandomPoses.ttt" simulator for applying IK on uarm, here's the steps i followed to move the arm: 1- I set all the joints to Inverse Kinematics mode 2- Added 2 dummies one related to the end-effector (the gripper) and one related to the base 3- ...
by EyaR
18 Jun 2019, 14:14
Forum: General questions
Topic: Moving uarm gripper to Cartesian coordinate(X,Y,Z)
Replies: 4
Views: 608

Re: Moving uarm gripper to Cartesian coordinate(X,Y,Z)

Thank you,
do you it's possible to use directly with sim.rmlMoveToPosition on the end-effector?? i tried using this function but had the whole arm translating
by EyaR
18 Jun 2019, 11:59
Forum: General questions
Topic: Moving uarm gripper to Cartesian coordinate(X,Y,Z)
Replies: 4
Views: 608

Moving uarm gripper to Cartesian coordinate(X,Y,Z)

Hello,
I'm working on uarm robot and now in the script they are using joint angles to move the robot.
Is there a way to be able to move the arm given it Cartesian coordinate ?
by EyaR
12 Jun 2019, 07:58
Forum: General questions
Topic: Controlling uarm in VREP using motion planning from MOVEIT!
Replies: 5
Views: 837

Re: Controlling uarm in VREP using motion planning from MOVEIT!

I just fixed the default position of both moveit and vrep to {0,0,0,0,0,0,0} position. But nothing changed.
Maybe i wasn't very clear with what i want to do. So i want my robot to use moveit motion in vrep but i guess giving it just the position of each joint isn't going to work ??
by EyaR
11 Jun 2019, 11:29
Forum: General questions
Topic: Controlling uarm in VREP using motion planning from MOVEIT!
Replies: 5
Views: 837

Re: Controlling uarm in VREP using motion planning from MOVEIT!

Hello and thank you for your quick reply, Here's a screenshot on the screenshot of the scene tree in moveit https://ibb.co/wNPmCJm and here's tree in vrep https://ibb.co/M78pWqT the position i'm getting from moveit: {4.4548270199448e-05, -0.78540409499386, -9.0923487860709e-05, 0, 0, 0, 0, 0, 0} Whi...
by EyaR
11 Jun 2019, 09:45
Forum: General questions
Topic: Controlling uarm in VREP using motion planning from MOVEIT!
Replies: 5
Views: 837

Controlling uarm in VREP using motion planning from MOVEIT!

Hello, I have done the motion planning using moveit!. I 'm using move group interface (python) to create joint space goal and currently i'm visualising the motion planning in rviz. In vrep, i was able to create a subscriber to receive the message sent from MoveIt python node. I'm subscribing to /joi...