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Inverse kinematics calculation module

Posted: 13 Sep 2018, 08:58
by Bellinsbauer
Good morning,
I would like to have if it is possible more informations about the properties "ignore max step sizes" and "damping" of the inverse kinematics calculation module. I'm comparing two manipulators, a traditional SCARA and a redundant SCARA, in terms of time took to bring an object from one point to another one. For what concern the second SCARA, its times depend very significantly on the values that I set for those properties that I mentioned before.
Kind regards,

Re: Inverse kinematics calculation module

Posted: 21 Sep 2018, 10:12
by coppelia

the IK modules works by linearizing around the current end-effector pose. So if the target pose is quite far away, then the calculated values will not be good and produce jitter/overshoot/etc.
To avoid this, you can instruct the IK routines to detect joints that very by a large amount, and retry the calculation with an interpolated target pose.
Damping is needed if your target pose is close to or outside the workspace boundaries, or if your IK is overconstrained. Otherwise your will also see jitter and shaking.