Problem with external IK with Youbot

[Seg86]

Hi,
I calculate IK with external module, written in C++ code, the it sends velocity command to joints youbot in V-Rep. In my code C++ the error between current pose and desired pos of end-effector is very little, but in V-Rep youbot_positionTip doesn't come in desired position. I don't know to do it, which is the possible cause?
Regards,

[coppelia]

Hello,

so basically you compute the required joint positions in your C++ application, and send that to the Youbot model in V-REP?
You could have many reasons why this is not working:

• is your IK calculation correct?
• are your model dimensions identical? (e.g. link dimensions)
• do you use same joint offsets or joint zero positions?

You don't give us enough information to get an idea of what is wrong.

Cheers

[Seg86]

Hi,
Yes I compute required joints position and then I send it to V-Rep model. I think my Ik module is correct because the error between current and desired position of end-effector is near to zero,maybe it could be a offset problem.What do you advice me doing to resolve offset problem? How Can I calculate it?

Another question What do you intend for link dimensions? Number of Link?
Regards,