I am using the 6 DoF arm (in Kinetic). I want to control the robotic arm in an abstract way. I am successful in moving the arm using the joint-space system where the motion planning is done using the Rviz and the joint angles obtained from it for the individual joints are given to the hardware-setup to make the robot move.
But, I don`t want to control the joints separately. I want to say: move the arm to the position (x,y,z).
I am using a custom IK fast plugin I generated for my robotic arm. I tried [this](http://docs.ros.org/hydro/api/pr2_moveit_tutorials/html/planning/scripts/doc/move_group_python_interface_tutorial.html#cartesian-paths) but when different (x,y,z) are given as inputs, the simulation in Rviz always goes to the same position. How do I solve this problem?
Thanks a lot.
Best Regards
Sriteja Gone
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