Redundancy handling for KUKA iiwa- Printable Version +- 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. |