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Target position does not match with path in Yumi's project

My colleague is working on a Yumi's single-arm project.

He created a program to move from target 1 to target 2.
However, he noticed the target position and the path location do not match and would like to know whether any steps are  necessary to make them match.

I attached the project file he created.
Look forward to your precious advice!

Attached Files
.rdk   Yumi sample (1).rdk (Size: 2.57 MB / Downloads: 326)

Thanks for writing in.
If you go to robot parameters and then to Inverse Kinematics options, selecting 'Use Iterative Kinematics' should fix this issue.
Find snapshot attached.

Hope this helps.

Attached Files Thumbnail(s)
Dear Vineet,

It is exactly what we wanted to know .
Thank you for your help.


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