[nirlevy]

We have a 6axis Yaskawa GP8 Robotic arm synchronized as a 8 axis system with X and Z linear Axis. we are trying to set target and get solution for inverse kinematics that includes the 7th and 8th synchronized linear axis. right now we get the local joint values (ie the current location of these axis) in the solution instead of a viable values solving the 8th axis analytic problem. how can we make sure the target we set in the api will take into account the 7th and 8th axis values so it will compute them as well? as of now we get unreachable targets because they do not include viable values for the 7th and 8th axis .

[Albert]

You can enter the value of your external axes using the setJoints command. This is valid for both Cartesian targets and Joint targets. You can find an example here:
https://robodk.com/forum/Thread-External...04#pid4304

[nirlevy]

Well I am doing this already what we wanted to understand is 8 axis robot requires 8 axis inverse kinematics, how can we do it in RoboDK?

[Albert]

You can still calculate the inverse kinematics with an 8 axis system. You simply need to provide estimate joint values and RoboDK will use the additional axes as the reference.

[nirlevy]

You can still calculate the inverse kinematics with an 8 axis system. You simply need to provide estimate joint values and RoboDK will use the additional axes as the reference.

Either I didn’t understand or we are not synced on the issue.
I want to set Pose ie translation and orientation , and in turn let roboDK find the appropriate J1-J8 values . 

At the moment in the trial version there is not iterative ik for more than 6 axis arm although i did synchronized it with 2 linear axis.

When I set Pose the current values of the axis doesn’t change. So the roboDK doesn’t solve the ik problem and send a bad location although there is a viable solution including all 8 axis . 

How can I set Pose and get a solution on all 8 axis ?

[Albert]

You can enable automatic Axes optimization in the robot Parameters menu:

1. Double click on your robot
   
2. Select Parameters
   
3. Under Axes Optimization click on More Options
   
4. Check the option Generic Axes Optimization.
   
5. You can adjust the Priority/weights of each axis as needed. I recommend you to start with one of our presets, such as Prioritize Robot. And then adjust as needed. For example, Prioritize Robot will move the robot over external axes. 
   

See the attached image. In this menu, if you want one axis to move less you should increase the relative Priority. You can also check the option to try to maintain a specific axis at a specific location.

  Robot-Axes-Optimization.png (Size: 126.66 KB / Downloads: 53)