Universal Robots Forum

Get_inverse_kin returns angles exceeding the axis limits

Robot : UR10e
Software version : 5.11.5.1010327

Hi.
I’m facing a problem with IK calculations using URScript.

I tried this ur-script.(This script will pop up the result, if the IK calculation result is OK.)

def myProg():
        canMove = get_inverse_kin_has_solution(p[-0.15462394,-0.32538053,0.0131264245,-0.9729848,2.9537551,0.02468018],[-1.5364907,-1.2845852,-2.6983585,-0.7535419,1.5966967,-6.300638])
        if canMove == True:
                ikResult = get_inverse_kin(p[-0.15462394,-0.32538053,0.0131264245,-0.9729848,2.9537551,0.02468018],[-1.5364907,-1.2845852,-2.6983585,-0.7535419,1.5966967,-6.300638])
                popup(to_str(ikResult))
        end
end

and I got this result.
ikresult2

The IK result of wrist3 exceeds the axis range of UR10e’s wrist3(±360 degrees) …

Is there any solution to get IK results that are definitely within the axis range?