Joint movement using IK
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- Posts: 14
- Joined: 19 Sep 2018, 15:53
Joint movement using IK
can we move a specific joint using inverse kinematics? i am using ANT robot? need to move specific joint using IK?
Re: Joint movement using IK
Hello,
a joint in IK mode will be automatically computed by the IK module (if an IK chain was correctly set-up). If you have a redundant kinematic chain, then you can disable one joint in that chain from IK calculations, by setting it to passive mode (if the joint is not dynamically enabled), or by setting it to force/torque and enabling the position control (if the joint is dynamically enabled).
Cheers
a joint in IK mode will be automatically computed by the IK module (if an IK chain was correctly set-up). If you have a redundant kinematic chain, then you can disable one joint in that chain from IK calculations, by setting it to passive mode (if the joint is not dynamically enabled), or by setting it to force/torque and enabling the position control (if the joint is dynamically enabled).
Cheers
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- Posts: 14
- Joined: 19 Sep 2018, 15:53
Re: Joint movement using IK
sorry didn't get you. can you provide some practical example or a detailed explanation?