01-15-2025, 10:27 AM
Hello,
I made a simple 4 axes SCARA robot with the mechanisms builder. Everything works fine expect that I cannot select alternative axis configurations for any targets.
Where I expect it for example to have both joints solutions (θ1,θ2,d3,θ4) [45.00°, 90.00°, 0.00°, 0.00°] and [-45.00°, -90.00°, 0.00°, 90.00°] as possible configurations for a target. Yet it only gives the current solution and no alternatives. While an alternative config is possible as I can axis jog into it and even force it by programming a joint target close to the desired config before moving to the target.
Iterative inverse kinematics is on.
RoboDK v5.7.3 (2024-05-24)
I made a simple 4 axes SCARA robot with the mechanisms builder. Everything works fine expect that I cannot select alternative axis configurations for any targets.
Where I expect it for example to have both joints solutions (θ1,θ2,d3,θ4) [45.00°, 90.00°, 0.00°, 0.00°] and [-45.00°, -90.00°, 0.00°, 90.00°] as possible configurations for a target. Yet it only gives the current solution and no alternatives. While an alternative config is possible as I can axis jog into it and even force it by programming a joint target close to the desired config before moving to the target.
Iterative inverse kinematics is on.
RoboDK v5.7.3 (2024-05-24)
