Joint movement using IK

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faisalkhan
Posts: 14
Joined: 19 Sep 2018, 15:53

Joint movement using IK

Post by faisalkhan » 18 Jan 2019, 14:06

can we move a specific joint using inverse kinematics? i am using ANT robot? need to move specific joint using IK?

coppelia
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Posts: 7388
Joined: 14 Dec 2012, 00:25

Re: Joint movement using IK

Post by coppelia » 18 Jan 2019, 14:36

Hello,

a joint in IK mode will be automatically computed by the IK module (if an IK chain was correctly set-up). If you have a redundant kinematic chain, then you can disable one joint in that chain from IK calculations, by setting it to passive mode (if the joint is not dynamically enabled), or by setting it to force/torque and enabling the position control (if the joint is dynamically enabled).

Cheers

faisalkhan
Posts: 14
Joined: 19 Sep 2018, 15:53

Re: Joint movement using IK

Post by faisalkhan » 19 Jan 2019, 03:40

sorry didn't get you. can you provide some practical example or a detailed explanation?

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