Path following

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sfeger
Posts: 6
Joined: 07 Mar 2018, 18:33

Path following

Post by sfeger »

Hello everyone,

I saw this example externalIkDemo2 and I would like to import a new robot in a new scene and program it to follow a circular path.
More specifically, I imported kuka lbr4+, selected inverse kinematics for joints and disabled dynamic properties of its links. Also I added a circular path, however I don't know how I could program link 7 to follow the above path.
here is the implementation:
https://www.dropbox.com/s/7s8xgume0jyn5pg/test.ttt?dl=0

Any help would be useful!

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

Re: Path following

Post by coppelia »

Hello,

you have several problems in your scene:
  • Make sure that your IK element has the correct constraints. Currently you have enabled only X/Y/Z, but you also need the orientational constraints.
  • In the IK dialog, check the Ignore max. step sizes item
  • Set all your joint into inverse kinematics mode (uncheck the hybrid mode checkbox)
  • Make sure that all shapes are non-dynamic. You still have a few shapes that are dynamic.
Cheers

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