Hello,
I use IK to control IRB4600 to arrive at designated position. The code for the child script of the IRB4600 is copied from the child script of the mechanical arm of the example named ikMovementViaRemoteApi, but when I use c + + to control the IRB4600 to the specified pose, the position of the mechanical arm will reach the specified location, but the rotation will have a slight deviation.
Thanks.
Adapting child script IK control for IRB4600
Re: Adapting child script IK control for IRB4600
Hello,
when controlling a robot from an external application, best would be to have all the IK calculations remain in CoppeliaSim, and the external application only provide e.g. the desired pose of the end-effector. This way also you'd have the exact same behaviour as from within CoppeliaSim.
If from your external application you use a different IK approach, you should make sure that the respective IK definitions are identical, i.e. describing the same kinematic chain.
cheers
when controlling a robot from an external application, best would be to have all the IK calculations remain in CoppeliaSim, and the external application only provide e.g. the desired pose of the end-effector. This way also you'd have the exact same behaviour as from within CoppeliaSim.
If from your external application you use a different IK approach, you should make sure that the respective IK definitions are identical, i.e. describing the same kinematic chain.
cheers