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POST No. 2407619
HELP : Open Manipulator Motion Planning Error
2019-10-10 15:35:59 kidsindo

When i was create the first Motion Planning, using moveit package on Rviz the result is succes, the robot visualization will move. But when i create the second movement the error said like picture below
How to Solve this problem?

Thx



2019-10-10 15:35:59
kidsindo
2019-10-11 17:48:33 Will Son

Hi,


Thank you for sharing the captured image.

I'll request more information regarding the Joint1 control with MoveIt!.

Thank you.

comment
2019-10-11 20:49:53 kidsindo
Thank you so much Mr Wilson,
hopefully the solution can be found as soon as possible
2019-10-11 20:49:53
kidsindo
2019-10-11 17:48:33
willson
2019-10-21 11:52:30 Will Son

Hi,


From the eManual Moveit! section, you can follow the tip.

TIP: If you would like to use inverse kinematics with position_only, check open_manipulator_moveit -> config -> kinematics.yaml and set position_only_ik parameter to True. 


Since OM-X is only using 4DOF(excluding the gripper), not all position + orientation on the 3D cartesian coordinate can be solved.

If you are using Position only, the endeffector will be used calculated without the orientation.

However, this will ignore the orientation and the Joint 4 cannot be controlled.


This is related to the limitation of the hardware structure, and one way to resolve this issue will be adding more joint to increase the DOF.

Thank you.

2019-10-21 11:52:30
willson
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