How to move the robot arm in straight line?
Hi,
I'm working on the ABB IRB14000 YUMI robot. I'm using the YUMI-kth package for controlling the robot. I'm just have a concern regarding the motion. I need to simply send POSE msg to the robot and the robot execute the motion as straight line motion like the MoveL command in RAPID.
I tried the
path constrains and to compute the Cartesian path but both of them are not working well with me, specially when moving both arms.
All what I need is to have a way to send the POSE msg and execute as MoveL in RAPID, Also if there is a way to do so by totally bypassing the Moveit as I'm not concerned with motion planning part in my application I just need to send xyz coordinates and the quaternions value and move in a straight line.
Thank you in advance.