IKFast plugin for MPX3500 #53
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Going through these old PRs. @marip8: this is probably a robot which cannot be modelled using the OPW kinematic structure, isn't it? |
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Correct; the offset wrist joints aren't compatible with the OPW requirements |
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Adds an IKFast plugin for the MPX3500 model to support #51
The solver appears to be reasonably, but not completely, accurate. Using the MoveIt planning GUI, simply clicking on the interactive marker on the tool frame without dragging causes the robot to jump very slightly.
simplescreenrecorder-2021-05-06_18.25.37.mp4
However, for most planning purposes, the level of accuracy provided by this solver is probably adequate.