[wimbled]

Hello,

I currently am modelling, a "daisy chained" configuration of two 6dof arms, where the larger KUKA KR 800 carries a smaller KR 10.

I was wondering if it is possible to use a different IK solver such as Trac-IK in place of RoboDK's solvers.

Currently the KR 10 is synchronised to the KR 800, as its external axis (linear track) and doesn't seem to have issues moving to targets or following basic paths.

I am concerned however that I might run into limitations for more complex problems. 

Thanks,

Wimbled

[Albert]

It is not possible to use a custom IK solver. However, you can activate an iterative solver by following these steps:

1. Double click your robot
   
2. Select Parameters
   
3. Select Options under Inverse Kinematics
   
4. Click on the option Use iterative kinematics
   

If this does not work for your needs, can you provide more information about the Track-IK solver? Is it open source?