When I do inverse kinematics simulation, my robot is crazy  

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LZG
Posts: 2
Joined: 15 Dec 2019, 02:42

When I do inverse kinematics simulation, my robot is crazy  

Post by LZG »

I set each joint of the UR3 robot to inverse kinematics mode, set the shape of each joint to be static and unresponsive, and set the tip-target pair and IK-Group. When I started the simulation, the robot went crazy. Almost the same settings can be successfully simulated in inverse kinematics in robot scence made by others. I want to know why my robot is crazy?ImageImage

coppelia
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Posts: 7966
Joined: 14 Dec 2012, 00:25

Re: When I do inverse kinematics simulation, my robot is crazy  

Post by coppelia »

Hello,

this is probably because your end-effector (or tip dummy) is not able to reach the target (e.g. there are joint limitations, or the target is simply out of reach). In that situation, it makes sense to use a damped resolution method.
Or, your IK task is possibly ill-designed (e.g. you have more constraints than DoFs, etc.).

Cheers

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