I implemented a simulation for a robotic arm that has to grab things. This arm has a 6DOF structure and a simple gripper on the top. I made a simple CCD IK algorithm to control the arm. I can use it in two ways:
- Compute the position of the last joint of the arm before the hand part (which means 1 end-effector). Then use an analytical method to place the hand in a good orientation.
- Compute directly the arm, and the hand position by giving the CCD IK algorithm 2 end-effectors that are the 2 finger of the hand.
What is the most used method for a grabbing arm robot ? I'm not willing to find a solution, just to know what people usually do.