I plan to make a mouse or a gesture control robot like this video on YouTube : ABB Externally guided motion.
For a 6-axes robot, I could implement it by using ABB’s EGM (Externally Guided Motion) option, which allows to send a Cartesian position and pose of TCP, and all the tedious calculation was handled by its controller.
However, when I started to work on YuMi, I noticed that EGM’s position guide control cannot be applied to the 7-axes robot (For YuMi, a joint control mode in EGM is only available). Are there any recommendations to implement what I described above?
Also, I'm guessing that I need to implement IK class to get the correct joints' angles from a desirable TCP position. Maybe using OpenRAVE or OMPL? If you have any recommendation to calculate IK / Inverse Jacobian, please let me know too.