CoppeliaSim forums

hello team! im trying to finish my project being “pick and place”. ive done everything and what is left is the robotic arm to work. Im trying to use the franka robot but its spinning around whatever i do. im a beginner and i follow this tutorial: https://m.youtube.com/watch?v=9X8QVcuJvQ4
in this video the guy is using KUKA KR16 and he doesnt show how to configure inverse kinematics and its deprecated. what i did in my situation for the franka robot was to add two dummies “target” to the main body of the robot and “tip” to the /Franka/connection’s baxtervacuumcup which is linked to target dynamically. every answer you give me is appreciated, thank you.

If you want to understand IK, then best would be to read/follow this section, in particular that one. This tutorial about IK is also available.

You can also very easily set up IK by doing following:

• Start with a raw model, e.g. Models/robots/non-mobile/7 DoF manipulator.ttm
• If it has a script attached, remove it, e.g. select the model, then [Menu bar > Edit > Remove > Associated child script]
• Keep the model selected
• Go to [Menu bar > Modules > Kinematics > Inverse kinematics generator...]
• Optionally adjust a few items in the dialog that pops open
• Click Generate

Cheers