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thanks for your reply, it works.

and nowadays, I have started to write the inverse kinematic solution with Lua, If I have any improvement, I will let you known it in the first time : )

I am really happy to hear that you want to help me with our model~ I have noticed the importance that sometimes the common method to calculate inverse kinematic would not works as the configuration has some special geometric feature. Here is the link of our STL model and the thesis paper script with...

Hi coppelia: I want to do a parallel configuration and I want to check my kinematic equation with this model. So I want to turn my mathematics into Lua script. Here is some question: 1, kinematic model need many matrix calculation so I check the Lua matrix in GitHub https://github.com/davidm/lua-mat...

Hello coppelia: I have noticed my problems of the PKM. As the geometrical feature of the Gosselin structure, it has only 3 DOF.I compared the model with Irb360 and found that it lacks many joints which contain in the delta structure.The irb360 models used 3 revolute joint to replace the spherical jo...

Hi Coppelia： Thanks for your reply. But my model still not work out :( I think the "Y" types link method is good, so the tree is like this: /Users/mac/Desktop/12.16.07.png I have already check the inverse kinematic model of this parallel configuration and used the right setting of tip-target link. S...

Hi Coppelia: Yes, I want to develop a kinematic simulation. Thanks for your reply so I decided to do the inverse solution first. But the question is that when I start the simulation ,it will report the error that : Lua runtime error: [string "CHILD SCRIPT target1"]:38: Object not tagged for explicit...

Hi, coppelia: your resolution is very useful and I have solved the question of kinematic model I think.But there is an other question that as I reference to the model of irb360 in vrep, I read the control code of it and migrated it to my model. I didn't understand the usage of sim.rmlMoveToJointPosi...

Hello：

sorry , I didn't check the link. And the model link is https://drive.google.com/drive/folders/ ... sp=sharing,hope this link can work well.

cheers,
Gloria

Hello: I'm figuring out a parallel configuration as a shoulder part of a robotic arm. And I read that the v-rep contain the inverse kinematics modules, just export the STL model into the v-rep scene and fix the physical structure and assembly tree correctly, then add the dummy into the end of the tr...