I'm trying to generate an IKFast plugin of a 4DOF arm (UArm swift), since the standard kdl solver does not work well with arms with less than 6 DOFs.
However, there is a problem: there is a passive joint that is not actuated in the kinematic chain, and I wanted to ask if there is any possibility to specify this in the urdf file?
Excluding it will not work since then the endeffector is not connected to the robot, nor does setting it to type fixed is possible because then the endeffector positions would be wrong.
In the IKFast plugin, I managed to set that joint to passive to calculate a 4DOF solution. However, when I run the plugin with Moveit, following error occurs:
> [FATAL] [1508331380.959032822]: Joint numbers mismatch: URDF has 5 and IKFast has 4
[ERROR] [1508331380.959088561]: Kinematics solver of type 'robot/IKFastKinematicsPlugin' could not be initialized for group 'robot_arm'
[ERROR] [1508331380.959195182]: Kinematics solver could not be instantiated for joint group robot_arm.
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