Inverse Kinematics amartinmestres Member Posts: 12 Threads: 6 Joined: Mar 2021 Reputation: 0 03-31-2022, 05:20 PM (This post was last modified: 03-31-2022, 08:42 PM by Albert.) We have a big amount of points (Cartesian cordinates) like a 100.000, we want to store the joints of the robots to reach this positions.  We start forme home (know joints positions) and right know (with c# api) we move the robot to the cartesian position, and read the joints of the robots in a while loop, the procces is slow (because is needed move the robot). Our idea is resolve the inverse kinematics without move the virtual robot, something like: last_joints= home_joints. loop: { new_joints[i]= solve_ik(last_joints, cartesian pose[i]); last_joints=new_joints[i] i++ } Find Reply Albert Moderator Posts: 1,381 Threads: 1 Joined: Apr 2018 Reputation: 69 03-31-2022, 08:22 PM You should be able to calculate the inverse kinematics of a point without moving the robot using SolveIK. The code you provided looks invalid. You should provide poses as the input to SolveIK, not joints. More information here: https://robodk.com/doc/en/PythonAPI/robo...em.SolveIK If you just need to do the conversion you should be able to easily convert cartesian coordinates to joint values with a small python script. Code:```# read list_poses as a list of lists (array of arrays) for xyzwpr in list_poses:    pose = KUKA_2_Pose()    joints = robot.SolveIK(pose) print(joints)```This example can give you a better idea: https://robodk.com/doc/en/PythonAPI/exam...to-program Find Reply amartinmestres Member Posts: 12 Threads: 6 Joined: Mar 2021 Reputation: 0 04-01-2022, 07:16 AM The doubt is the joints is thinking that the robot is where, I mean, I understand that give a configuration of axis depending of the previous pose of the robot, or always give it from home? Find Reply Jeremy Moderator Posts: 1,800 Threads: 2 Joined: Oct 2018 Reputation: 69 04-04-2022, 06:01 PM You can provide the joint value of the previous point to help the algorithm. https://robodk.com/doc/en/PythonAPI/robo...em.SolveIK Jeremy Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel.  Find Reply