Question (closed kinematic chains)
shisha101 opened this issue · comments
We have a delta robot and would like to use move it to check for collision avoidance and planning, currently we can plan simple trajectories without collision checking. would MoveIt be able to carry out collision checking and planning if a special IK plugin was written for the robot ? or is there something we might be missing here?
From what we understand is that using URDFs it is not possible to model chains, only trees are possible, so we are using our own fwd/inv kinematics algorithms to publish the TFs and joint states, this is currently working well.
Yes, the default IK, KDL, only handles chains so you would need to create your own IK solver. It would be really cool if you could share this closed kinematic chain IK solver especially if its robot agnostic
URDFs can model open chains but not closed chains (except for a hacky mimic joint that is partially supported)