I am using a UR10 robot manipulator with the gripper as TCP. I am using an OMPL plugin for motion and path planning
The problem is that my UR10 robot follows the Position of the target, but not the Orientation.
I thought that it is because of smaller number of 6 DoF that UR10 has, compared to LBR4p.
However, there may be a different problem with code or algorithm.
Here below is the link
https://drive.google.com/open?id=1flPLQ ... hDBFok326S
Thanks in advance for any answer
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