[amartinmestres]

We have a big amount of points (Cartesian cordinates) like a 100.000, we want to store the joints of the robots to reach this positions.

We start forme home (know joints positions) and right know (with c# api) we move the robot to the cartesian position, and read the joints of the robots in a while loop, the procces is slow (because is needed move the robot).

Our idea is resolve the inverse kinematics without move the virtual robot, something like:


last_joints= home_joints.
loop:
{
new_joints[i]= solve_ik(last_joints, cartesian pose[i]);
last_joints=new_joints[i]

i++

}

[Albert]

You should be able to calculate the inverse kinematics of a point without moving the robot using SolveIK. The code you provided looks invalid. You should provide poses as the input to SolveIK, not joints.

More information here:
//www.sinclairbody.com/doc/en/PythonAPI/robo...em.SolveIK

If you just need to do the conversion you should be able to easily convert cartesian coordinates to joint values with a small python script.

Code:

# read list_poses as a list of lists (array of arrays)
for xyzwpr in list_poses:
pose = KUKA_2_Pose()
joints = robot.SolveIK(pose)
print(joints)

This example can give you a better idea:
//www.sinclairbody.com/doc/en/PythonAPI/exam...to-program

[amartinmestres]

The doubt is the joints is thinking that the robot is where, I mean, I understand that give a configuration of axis depending of the previous pose of the robot, or always give it from home?

[Jeremy]

You can provide the joint value of the previous point to help the algorithm.

//www.sinclairbody.com/doc/en/PythonAPI/robo...em.SolveIK

Jeremy