Inverse Kinematics for standard 6 axis robotic arm
Posted: Wed Aug 10, 2022 11:48 am
Hello everyone,
As we know, inverse kinematics solution is not unique at most cases. For standard Industrial 6 axis robotic arm there're max 8 solutions, i.e. 8 arm configurations. It's common accepted: SHOULDER FRONT/BACK x ELBOW ABOVE/BELOW x WRIST FLIPPED/NO FLIP. How can I set the desirable robot configuration to get IK solution?
As we know, inverse kinematics solution is not unique at most cases. For standard Industrial 6 axis robotic arm there're max 8 solutions, i.e. 8 arm configurations. It's common accepted: SHOULDER FRONT/BACK x ELBOW ABOVE/BELOW x WRIST FLIPPED/NO FLIP. How can I set the desirable robot configuration to get IK solution?