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Robot Operating System Cookbook by Kumar Bipin

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Developing a custom MoveIt! IKFast plugin

In the preceding section, we have learned how to configure the MoveIt! packages with a particular robotic arm to perform motion planning. The MoveIt! package use the default KDL kinematics plugin, which finds IK solutions using a numerical method.

This default numerical IK solver, KDL, is mainly used so that robots have a degree of freedom (DOF > 6), whereas most of the industrial robotic arms have DOF <= 6. Therefore, we can use analytic solvers, which are much faster than numerical solvers.

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