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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

In this section, we will discuss how to generate an IK solver plugin using IKFast, a powerful inverse kinematics solver provided by the OpenRAVE (http://openrave.org/) motion planning software.

A good example of a robot using IKFast in ROS is the Motoman sia10d, universal robots UR5 and UR10, and ABB robotics IRB 2400.

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