Steward Platform

[Yoshi]

Hi, I'm trying to simulate the steward platform FK/IK, I read the parallelForwardandInverseKinematics example but I can't use the inverse kinematics as I want. I deleted the upper part of the example, the forward kinematics of course works and, I created a new Tip and Target in the middle part then, I added to the kinematics group and set the joints in IK mode according to the robot irb360 and used that code, but the inverse kinematics doesn't work it seems that I'm missing something but I can't figure out what it is.

I attached the model here:
https://drive.google.com/open?id=1aIQ4_ ... sjpFuQICbx


If you can take a look and help with my problem will be great.

Thanks in advance for your help.

[coppelia]

Hello Yoshi,

your link to your file seems to be broken...

Cheers

[Yoshi]

Hi ,

Sorry I think now is working
https://drive.google.com/open?id=1aIQ4_ ... sjpFuQICbx

Code: Select all

https://drive.google.com/open?id=1aIQ4_5Xcv9AYoysfeR7TPAsjpFuQICbx

thanks

[coppelia]

The movement range for your prismatic joints is not large enough. Try to set a pos. range to 2, and a pos. min. to -1 for those joints.

Cheers