I have a basic question w.r.t IK and collison aware motion planning. This is the pipeline to my knowledge.
1. A Geometric pose(X,Y,Z and rotation) target is received.
2. The pose is fed to the IK solver,which gives the corresponding joint values for achieving the target pose.
3. The joint values are fed to the Motion planner(Moveit-OMPL),which plans a joint-space plan along with timings and velocities at each point.
4. The joint space plan is executed by the robot.
If this is accurate, How does the IK ensures that the joint angle value obtained in step 2 ( angles corresponding the target pose) are collision free? Does the IK give multiple solution for the planner to try or does the planner keep polling the IK for joint values until the joint target angles obtained don't result in collision.
P.S Can someone explain what does "Use-Collision-Aware IK" checkbox in the Rviz does?
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