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Inverse Kinematics on Baxter arm

asked 2014-06-09 07:20:18 -0600

ktiwari9
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Hey there guys, I am working on a Baxter and ROS Groovy. I want to make the arm move from point A to point B while keeping the wrist joint fixed. I tried this with the IK Service but it messes up the wrist joint by moving it as well. Any suggestions on how can I make the arm move from point A to B with a fixed wrist joint ? Please help !!!

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answered 2014-06-09 13:35:11 -0600

Stefan Kohlbrecher

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updated 2014-06-09 13:35:33 -0600

What you request could be achieved using a cartesian path (if you can move between points in a straight line or can already generate some sort of cartesian waypoints) or using constraints while planning using MoveIt!. The latter (using constraints) was not completely implemented last time I read about it. For cartesian planning, this answer is pretty comprehensive.

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Asked: 2014-06-09 07:20:18 -0600

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Inverse Kinematics on Baxter arm