I bough one month ago a sainsmart 6 DOF robot. I wanted to try to integrate it with a raspberry and OS to try to control it. I made the design of the pieces and then I start to implement it on Moveit. At first it was easy but the robot have a paralell joint that make a close kinematic chain in the robot. That made that I couldn’t continue working on it. I search information about it and I know more or less what are my future plans about this project. Let’s talk about them:
1-I want to implement my own inverse kinematic for the robot with the actual representation. Try to know what is the relation between the angles of the joints to forget the paralell joint for the moment. ¿How can I do this? I didn’t found nothing. I think that is something that there isn’t too much information about it, and i wanna know about it, I think this is really useful.
2- Then when I do the first step, I want to close the loop in gazebo representation. I think that this is posible in SDF.
3-Then I will continue with the implementation of the planning, but without the first step I thik that this is imposible now.
I will thank you a lot if you can give me bibliography or some material that could help me in the progress of my project. I haver search a lot about mimic joints, about kinematic plugins, about how to deal with this type of robots but with any results. I don’t know how to continue.