[marcellacavalcanti]

Hello,

I'm using an ABB CRB 15000 10-152 robot in RoboDK and the API to calculate inverse kinematics to retrieve joint values. However, I've noticed something odd: some targets in RoboDK only show one possible configuration, whereas in RobotStudio I can see up to 7 different configuration options for the same targets. I've attached images of the same target in both software to illustrate this.

   
   

Could someone explain why this is happening? Is there a way to access all possible configurations in RoboDK as seen in RobotStudio?

Thank you in advance for your help!

[Albert]

Unfortunately, RoboDK's solver for 7-axis ABB robot arms is iterative and it won't show all the options as you see in ABB RobotStudio.

[marcellacavalcanti]

Hello, Albert. Thank you for your response!

But I don’t quite understand it, as the ABB CRB 15000 10-152 is a six-axis robot, not a seven-axis one. Does your answer still apply? I’ve worked with another six-axis ABB robot (the IRB 1200) in RoboDK in the past and was able to access all the configuration solutions for it.

[Albert]

You are right, the ABB CRB 15000 10-152 is a 6-axis robot. However, the inverse kinematics is still iterative for this robot because axes 4, 5 and 6 are not intersecting. 

Therefore, RoboDK can't find all potential solutions in an analytical manner.