I think i have an simple problem, but can't my head around how i should resolve it...
My setup looks like this:
The grey box on end effector is supposed to be an camera, which measures a dx,dy,dz between the object and the camera. These are used to position the camera such that dz between the object and the camera is equal to 0.5, and dx = dy = 0.
I know that I using inverse kinematics can determine the Q which positions it according the given rotation and position, but what if I only provide it a position only?
How do extract all Q that make dx = dy = 0, and dz = 0.5, while keeping the object in sight at all time?
An example could be if an object was placed just above the base (see second image), it should then find all possible configurations which in this case would consist of the arm rotating around the object, while the camera keeps the object in sight...
I just realized a possible solution would be to create a sphere with the object in centrum an radius of dz, and then use this sphere to extract all pairs of rotations and position... But how would one come by with such an solution?