# Real-time TCP position/pose control on YuMi (IRB14000)

**URL:** <https://tech-community.robotics.abb.com/t/real-time-tcp-position-pose-control-on-yumi-irb14000/7710>\
**Category:** Collaborative Robots\
**Created:** [May 7, 2017, 8:59pm UTC](https://tech-community.robotics.abb.com/t/real-time-tcp-position-pose-control-on-yumi-irb14000/7710 "2017-05-07T20:59:34Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\
**Post date:** [May 7, 2017, 8:59pm UTC](https://tech-community.robotics.abb.com/t/real-time-tcp-position-pose-control-on-yumi-irb14000/7710/1 "2017-05-07T20:59:34Z")

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I plan to make a mouse or a gesture control robot like this ([https://www.youtube.com/watch?v=3bywmHWcgdA](https://www.youtube.com/watch?v=3bywmHWcgdA)).

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. 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.