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I am trying to do position motion planning with inverse kinematics for the MeArm model. I followed MoveIt tutorials and was able to achieve what I wanted with their provided robot example. However, I found out that the solvers MoveIt uses only support serial chains (here). Is there any alternative method for doing motion planning/IK that supports non-serial chain robotic arms ?

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2 Answers 2

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You can try and use this:

https://github.com/RobeeContech/hardware_interface_wrappers

This is a repo we created for managing a unique transmission of our SCARA robot.

This is not maintained but it works fine as far as our tests go and we made it public if someone wants to use it.

you can look at those for references: https://github.com/RobeeContech/transmission_manager https://github.com/RobeeContech/robee_transmissions

this opens an abstract class to wrap your hardware interface and thus you can work with a normal serial ik solver

This means that there is quite a lot to write on your own and calculate your transmissions accordingly.

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Running a search in google, return this repo, which, apparently can tackle your issue.

https://github.com/davetcoleman/moveit_whole_body_ik

On the other hand, it seems that none of the "officially" supported kinematic plugins can handle non-serial chains so probably you'll need to build something customized

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