So simple, so complex (IK problem)

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smcdiaz
Posts: 2
Joined: 08 Sep 2013, 18:24

So simple, so complex (IK problem)

Post by smcdiaz »

Hello.

Iam trying to build a very simple model to test the IK functionality.

Here is the scene (https://dl.dropboxusercontent.com/u/931 ... eba_IK.ttt)

It only has two bodies and one revolution joint. I completed the tutorial about IK with success and tried to build this simple model. In this case, it is impossible for me to rotate the arm arous the base. I followed all the steps without success. What is happening in this so simple model?

Thanks in advance.
Santiago

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

Re: So simple, so complex (IK problem)

Post by coppelia »

Hello Santiago,

you have 2 problems in your scene:
  • the joint Revolute_joint is not in hybrid operation. In the joint properties dialog, check Hybrid operation.
  • your robot has 1 degree of freedom, but you set 6 constraints to your IK element: your system is over-constrained. In the Ik element just check the X and Y constraint, then in the Ik dialog select a damped calculation method: DLS
Cheers

smcdiaz
Posts: 2
Joined: 08 Sep 2013, 18:24

Re: So simple, so complex (IK problem)

Post by smcdiaz »

It works!!

Thank you!
Regards
Santiago

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