Thread Rating:
  • 0 Vote(s) - 0 Average
  • 1
  • 2
  • 3
  • 4
  • 5

How to solve IK for a given TCP

#1
Hi,

I would like to use the API to find all joint configurations that will move the TCP to a target. If I use SolveIK() or SolveIK_All() the resulting joints put the flange at the target. Any ideas welcome.

Or maybe there's a better way to do what I'm trying to do, so I'll explain.. I have a series of matrices describing a tool path. The robot can get to t1, t2, t3 but can't get to t4 from t3 with a linear move using the configuration it was using for t1 - t3 (I guess the preferred configuration). So I need to find a configuration that is valid for all matrices. For example, if I start the robot with the elbow down, and then do MoveL for each pose, it works. I need to figure out what that configuration is, using the API, before the robot starts the move.

Thanks

julian


Messages In This Thread
How to solve IK for a given TCP - byhoolymama- 06-14-2018, 02:42 AM



Users browsing this thread:
1 Guest(s)