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Extract robot inverse kinematic model from RoboDK


I am controlling a Fanuc CR15ia robot with a vanilla c++ code, Is there by any chance a way to extract the robot inverse analytical kinematic model from RoboDK. I am using RoboDK to run simulations, however my final project shall be independent from any third party software. Currently I am using an iterative approach, but I need an analytical one due to execution speed issues.

You can calculate the inverse Kinematics of any robot in RoboDK by using the SolveIK function. It takes the pose of the robot flange with respect to the robot base and it returns the joints closer to the current solution. The source code of this function is not open source.

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