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Redundancy handling for KUKA iiwa
#1
I'm currently experimenting with the KUKA LWR iiwa 14 in RoboDK. Is there any way to handle the redundancy introduced by the 7th axis? As far as I can see, the IK solver always positions joint 3 at 0 degrees, no matter what joint value has been specified in the (Cartesian) target for joint 3.

Is there any way to achieve a behavior similar to the handling of external linear units, i.e. I can define the absolute position of joint 3 which is then honored by the IK solver.

Best regards,

Michael
#2
RoboDK does not account for this redundancy. The inverse kinematics will ignore the position of join 3 and will set it to 0 degrees. We look forward to improving this calculations but we would need help to properly integrate your robot inverse kinematics in RoboDK.
  




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