Sometimes when robot is moving on a specific path we get a sudden change of configuration because it goes through singularity. I would like to try to fix a desired robot configuration for some tasks with the help of RoboDK API for Matlab.

When I am calculating Inverse kinematics in Matlab I get 8 unique solutions, but when I use RoboDK IK solver I get up to 21 solutions. So my first question is, how can I return only 8 unique solutions with robodk ik solver into Matlab? Then I went checking how robodk is showing different configurations. Please take a look at the attached document and confirm if my intepration is correct (with those green lights).

For the last question. It seems that there is already a solution for Python which can recognize different configurations (last page in the attached document). Is it possible to implement this in Matlab? If not, where can I find the program which uses function JointsConfig?

To summarize. When I get 8 unique IK solutions I would like to know for each solution in which configuration (f,r,u,d,f,nf) the robot is (in Matlab). I am already trying to manually limit joints for each configuration, but I think RoboDK can handle this better.

Thank you in advance. Best regards.

I solved the first question. I put a limit on joints from -180 to +180 in Robodk and now it returns only 8 unique solutions. Now I only need to classify those solutions - extract configuration.

When I am calculating Inverse kinematics in Matlab I get 8 unique solutions, but when I use RoboDK IK solver I get up to 21 solutions. So my first question is, how can I return only 8 unique solutions with robodk ik solver into Matlab? Then I went checking how robodk is showing different configurations. Please take a look at the attached document and confirm if my intepration is correct (with those green lights).

For the last question. It seems that there is already a solution for Python which can recognize different configurations (last page in the attached document). Is it possible to implement this in Matlab? If not, where can I find the program which uses function JointsConfig?

To summarize. When I get 8 unique IK solutions I would like to know for each solution in which configuration (f,r,u,d,f,nf) the robot is (in Matlab). I am already trying to manually limit joints for each configuration, but I think RoboDK can handle this better.

Thank you in advance. Best regards.

I solved the first question. I put a limit on joints from -180 to +180 in Robodk and now it returns only 8 unique solutions. Now I only need to classify those solutions - extract configuration.

**Attached Files**

robodk ik en.pdf (Size: 301.17 KB / Downloads: 106)