How to add IK to KUKA LBR

[ash891228]

Hi,

I followed http://www.coppeliarobotics.com/helpFil ... torial.htm to set up an IK solver for the KUKA LBR arm in the database.
First I added two dummys one at the end effectors position and the other at the base position. Next in the Calculation modules dialog, I added a new IK group with the two dummys linked. The last thing I did was change the joint mode from Torque/force mode to Inverse kinematics mode. But after doing the last step, the arm just fell apart in the simulation. Did I do anything wrong or is there addition setup for this?

Best,

[atoz]

For each joint, try checking the hybrid operation option. This fixes the problem for me. I'm not exactly clear on why this is though.

[ash891228]

For each joint, try checking the hybrid operation option. This fixes the problem for me. I'm not exactly clear on why this is though.

Thanks a lot! It worked!