CoppeliaSim forums

HELLO,

How to display the trajectory curve of the end-effector of manipulator in the latest version of the software (V4.2) ?

As my first problem of statement, As the build-in cals.method, simIK.setIkGroupCalculation(ikEnv,ikGroup,simIK.method_damped_least_squares,1.1,10) How to use a customed algorithm embedded in the script of the scene to calculate the IK of the manipulator? I want to replace the DLS cals.method with my...

oh. That is just the matirx norm. For example，the function norm in matlab.
Thanks.

OK, Besides, How to solve the second norm of a matrix in LUA script? I only find the vector norm of this vector in file (matrix.lua).
Thanks.

Thanks.
The DLS method beside the damping, that is ,the least squares method, it makes the sum of squares of the error between the obtained data and the actual data to be minimum? i.e, \(\min\limits_b{||y_m(b) - y||}^2_2\)

OK, Thanks for your patience.
Beside, I would like to ask how this calculation method ( DLS ) calculates the position of the manipulator arm?

Thanks your reply.
How to bind dummy tip(attached to the end of the manipulator) and target in IK Env?
Beside, the Coppeliasim's script support matrix operations or to load the matrix lib from https://github.com/davidm/lua-matrix？

Yes, I'm using the V3.6.2. As shown in the screenshot above, how to specify the calculation method(i.e.DLS) of inverse kinematics in the latest version(V4.2.0) as in the previous version? In addition, how to represent some constraint variables of the manipulator, such as damping, joint limits, etc.,...

Dear every senior: Now, I am using the Haptic Device to control the manipulator(i.e, LBR_iiwa_7_R800), the inverse kinematic setting of the Coppeliasim are as follows: https://picture2url.oss-cn-shenzhen.aliyuncs.com/dls.png?versionId=CAEQJBiBgMCAq42w6xciIDQzMjMwYWFkNDIxZDRkMWY5ZjA1Yjg2NGUwYjMyNDlk ...

Then, how to use the haptic device(TOUCH) to control the KUKA LBR_iiwa_7_R800 ?
How to continue this task？