Inverse kinematics
Using forward kinematics, we can determine the position of the gripper at any time. The inverse kinematic problem is to place the gripper at a desired location and orientation. This requires the calculation of the joint angles then sending Baxter the seven joint angles and commanding the arm to move.
Rethink Robotics provides an Inverse Kinematic (IK) example that sets a specific endpoint position and orientation and solves for the required joint angles. The example and the Python script are described in these websites:
To run the example to find the joint angles of the left limb (arm) for the fixed position and orientation in the Python script, type:
$ rosrun baxter_examples ik_service_client.py -l left
The endpoint position and orientation of the right arm can be found using the same command but with the option right. See the code to find the specific...
