+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+ - - -论坛:通用RoboDK问题(//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK)
+---Thread: Redundancy handling for KUKA iiwa (/Thread-Redundancy-handling-for-KUKA-iiwa)
Redundancy handling for KUKA iiwa-mvistein-07-12-2022
I'm currently experimenting with the KUKA LWR iiwa 14 in RoboDK. Is there any way to handle the redundancy introduced by the 7th axis? As far as I can see, the IK solver always positions joint 3 at 0 degrees, no matter what joint value has been specified in the (Cartesian) target for joint 3.
Is there any way to achieve a behavior similar to the handling of external linear units, i.e. I can define the absolute position of joint 3 which is then honored by the IK solver.
Best regards,
Michael
RE: Redundancy handling for KUKA iiwa-Albert-07-12-2022
RoboDK does not account for this redundancy. The inverse kinematics will ignore the position of join 3 and will set it to 0 degrees. We look forward to improving this calculations but we would need help to properly integrate your robot inverse kinematics in RoboDK.