Inverse Kinematics and hybrid operation mode
Posted: 25 Apr 2017, 17:55
Good evening,
I'm relatively new to V-REP and I'm trying to get a hold of the environment.
I need to experiment with inverse kinematics but I don't quite get the results I'm expecting.
I'm using the UR10 manipulator: I followed the tutorial about IK and created the IK group with IK elements and everything worked smoothly. The joints are all in Inverse Kinematics mode. However, when I start the simulation, the robot literally collapses on itself and falls to pieces.
The issue seems to be resolved when I check in the hybrid operation mode next to the Inverse kinematics mode in the joint dialogue box, alongside with position control (PID). I've read, however, that the hybrid operation shouldn't be active.
What am I missing/getting wrong? I believe it might be because the robot is dynamically enabled, but I'm not sure how to deal with that.
I'm sorry if the question is very naive, but I'd really appreciate if somebody could clue me in.
Thank you!
I'm relatively new to V-REP and I'm trying to get a hold of the environment.
I need to experiment with inverse kinematics but I don't quite get the results I'm expecting.
I'm using the UR10 manipulator: I followed the tutorial about IK and created the IK group with IK elements and everything worked smoothly. The joints are all in Inverse Kinematics mode. However, when I start the simulation, the robot literally collapses on itself and falls to pieces.
The issue seems to be resolved when I check in the hybrid operation mode next to the Inverse kinematics mode in the joint dialogue box, alongside with position control (PID). I've read, however, that the hybrid operation shouldn't be active.
What am I missing/getting wrong? I believe it might be because the robot is dynamically enabled, but I'm not sure how to deal with that.
I'm sorry if the question is very naive, but I'd really appreciate if somebody could clue me in.
Thank you!