Get_inverse_kin() without Robot connection

URCap Development URCaps SDK
1

Hi,

I would like to acquire robot joint angles from TCP points.
I know get_inverse_kin script function, but I automatically generate 1000 or more robot paths from somethings.

So, I may not use robot when I generate robot paths.
Have any ideas?

For examples, use SDK or direct calculation using DH matrix…
Unfortunately, I am running UR3 on x64 based Windows 10 system, and developing using C++.

Thanks.

2

U could use URSim with a local RTDE Connection to achieve this:
https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/

or you could also do the math on your own:

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