Using MOVE for G0 can cause arm to go through the table

[mentarus]

Happened when moving across about 500mm distance, where the move command decided to spin forearm around joint 3. This caused the wrist to plow into the table.

[saljam]

Ouch...

Would it make sense to just not use the controller's builtin inverse kinematics and compute them ourselves? It seems to do weird stuff all the time.

(Also, hi Eugene!)

[mentarus]

Given the number of issues with the IK solver in the arm this may be the
best option. We've got ROS move_it package working with the small arm and
we've already made a model for the staubli so it's shouldn't be that much
effort.
Will need to see CAM software like sprutcam can control the joints
directly, I believe it does so out of the box, just need to write the
driver for it.
(Also, hello! you are alive!)

On 17 March 2015 at 14:28, سلمان الجمّاز (Salmān Aljammāz) <
notifications@github.com> wrote:

Ouch...

Would it make sense to just not use the controller's builtin inverse
kinematics and compute them ourselves? It seems to do weird stuff all the
time.

(Also, hi Eugene!)

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