CoppeliaSim forums

Hello Coppelia,

I want to move the end effector(Tip) from one point to another point along a path. But there wasn't path data generated by the command "simIk.generatePath" when I try it by UR10 referring to the demo "ikPathGenerate.ttt". I kept the settings the same but it didn't work. How can I fix it?
my case: https://drive.google.com/file/d/1ckU2SK ... sp=sharing

Thank you in advance.
Regards,
Arnold

Hello Arnold,

the goal is probably not reachable. Try moving it closer. It is also always a good idea to first try with simIK.constraint_position, instead of simIK.constraint_pose, to see if that is possible. Also, starting with the robot in a straight configuration is often tricky, since in that configuration often one or several DoFs are lost. Try setting an angle in the 3rd joint.

Cheers