parallel joint

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wpc
Posts: 7
Joined: 06 Jun 2017, 02:22

parallel joint

Post by wpc »

Hello, how should my parallel joints be set? I want to give a certain degree of parallel joints and get corresponding movements. Does not require dynamics.

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: parallel joint

Post by coppelia »

Hello,

you will have to carefully design your IK chain as a loop. Have a look at the many IK examples in folder scenes/ik_fk_simple_examples. Following might be quite similar to what you want to achieve: 7-fkAndIkResolutionForParallelMechanisms.ttt
Also have a look at the following demo model: Models/robots/non-mobile/ABB IRB 360.ttm

Cheers

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