https://forum.universal-robots.com/t/multiple-robot-workcell-with-moveit-in-ros-2/34129/2 Dual Arm Setup Universal_Robots_ROS2_Driver#509 ...

I have a problem to generate ikfast plugin for my dual-arm-robot. The working environment is Ubuntu 14.04, and ROS version is of course indigo. My question is how to select the baselink and eelink?

In this paper, a first attempt is made to formulate a spatial equilibrium quadratic programming problem in its primal and "purified" dual forms. This formulation is in sharp contrast to the quadratic ...