How can I apply inverse kinematics on the Uarm robot model?

[skepticalgavin]

Hello,

I am trying to apply inverse kinematics on the Uarm robot model (category: robot/non-mobiles), just like how the "7 DoF Manipulator" model works. I create a manipSphere and two IK-linked dummies, change all the joint modes to "inverse kinematics mode" + "Hybrid operation". Other settings are shown below in the pictures:

https://drive.google.com/open?id=161CIb ... diBM6Y4FlA

https://drive.google.com/open?id=1ChWqM ... jEiM0IUg4a

But when I run the simulation, the uarm keeps shaking; and when I move the manipSphere, only some parts (link5, auxlink5, link4) can move, while other parts keep still; And the moving parts cannot move to the exact position which I move the manipSphere to.

So, how can I apply inverse kinematics on the Uarm model?

Thanks.

[skepticalgavin]

This is the printscreen when simulating:

https://drive.google.com/open?id=1iwjrD ... f79HvFclsf