Creating the MoveIt! IKFast plugin for the ABB-IRB6640 robot

We have seen the MoveIt! package for the ABB robot IRB 6640 model. But the robot is working using the KDL plugin, which is a default numerical solver. For generating IK solver plugin using IKFast, we can follow the procedure mentioned in this section. At the end of this section, we can run the MoveIt! demo of this robot using our custom moveit-ikfast plugin.

In short, we will build an IKFast MoveIt! plugin for robot ABB -IRB 66400. This plugin can be selected during the MoveIt! setup wizard or we can mention it in the config/kinematics.yaml file of the moveit-config package

Prerequisites for developing the MoveIt! IKFast plugin

The following is the configuration we have used for developing the MoveIt! IKFast plugin:

• Ubuntu 14.04.3 LTS x86_64 bit

• ROS-Indigo desktop-full, Version 1.11.13

• Open-Rave 0.9

OpenRave and IK Fast Module

OpenRave is a set of command line and GUI tools for developing, testing, and deploying motion planning algorithms...