[Yash]

 Extracting All IK Solutions (10‑DOF) for Cost-Based Path Planning

Is there a way—via GUI or Python API—to extract all possible joint configurations (IK solutions) for each Cartesian target in my full 10‑DOF system (UR30 + gantry)? Do RoboDK solves Hybrid Mechanism or the solveall function can give only the 6 DOF of the UR30 Cobot ?

My goal is to evaluate each solution using a custom cost function (considering joint limits, singularity avoidance, external axis motion, etc.) to justify the configuration choices in my path planning process for my thesis.

[Albert]

Yes, RoboDK allows you to extract all inverse kinematics (IK) solutions for a robot system including hybrid mechanisms like a UR30 robot combined with a gantry. You can do this using the UI (you can see all possible solutions for a target by right clicking on a target and selecting Change Configuration) or the API (you can obtain all joint solutions by using the SolveIK_All function).

When you have additional axes synchronized with a 6-axis robot arm you have infinite solutions for each solution. When RoboDK provides you with all possible solutions it checks all possible solutions for the robot arm. You can also configure axes optimization here: Double-click your robot in RoboDK-Parameters-Axes Optimization-More Options-Enable Generic Axes Optimization and adjust priorities.

Note that if you have loaded the robot controller kinematics (e.g., from a URP file for Universal Robots), the IK solver becomes iterative and typically returns only one solution. To get all analytical IK solutions, you may need to disable the controller kinematics in the robot parameters.

Once you have all IK solutions, you can evaluate each solution with your custom cost function (considering joint limits, singularity avoidance, external axis motion, etc.) to select the best configuration for your path planning.