Inverse Kinematics

[markusbuchholz]

Hei @evan-palmer,

For now, I will start again by conducting some research that includes manipulators. I plan to use the Bravo Alpha 5. My current research involves inverse kinematics and control, and I was wondering if you will be able to get IK running (in Alpha framework or other)

I have tried to solve IK manually, in Bullet and, of course, in MoveIt 2 (my own approach), but I was unsuccessful.

In the Alpha framework, you use MoveIt. Have you managed to solve the IK while running a C++ program?

Thanks

[evan-palmer]

Hey @markusbuchholz! When doing IK with the Alpha and the BlueROV, I used TPIK control, which worked quite nicely with the arm. Moving forward, I'm planning to use Pinocchio. I've used it with the Bravo, but haven't tested it with the Alpha yet.