Reproducing Inverse kinematic to KUKA LBR4

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EyaR
Posts: 8
Joined: 10 Jun 2019, 10:30

Reproducing Inverse kinematic to KUKA LBR4

Post by EyaR » 04 Jul 2019, 17:39

Hello, I'm trying to reproduce "8-computingJointAnglesForRandomPoses.ttt" for kuka LBR4p+.ttm robot for understanding how applying IK on a robot so i can apply it to a new one.

I followed the Ik tutorial and here's the steps i followed to move the arm:
1- I set all the joints to Ik mode hybrid enabled ( if i leave it to passive mode the arm will fall down)
2- Added 2 dummies one related to the end-effector (the gripper) and one related to the base
3- I specified that "Target" as Linked dummy to "Tip", link type: IK, tip-target.
4-Added new IK group. Next i added new IK element with tip button, selected "Tip". Finally, i checked all the Constraints.
5- Copied the script written for the example to the LPR4p that i want to move

what am i doing wrong ?
Here's my scene
https://drive.google.com/open?id=1E0_W0 ... bpmgfqgJFc

EyaR
Posts: 8
Joined: 10 Jun 2019, 10:30

Re: Reproducing Inverse kinematic to KUKA LBR4

Post by EyaR » 05 Jul 2019, 12:35

Solved:
okay it turns out that the solution is to make the joints into inverse kinematic mode with hybrid enabled and disable explicit handling under inverse kinematic module && calculation method into DLS

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