# Get\_inverse\_kin() without Robot connection

**URL:** <https://forum.universal-robots.com/t/get-inverse-kin-without-robot-connection/4382>\
**Category:** URCaps SDK\
**Created:** [May 27, 2019, 3:09am UTC](https://forum.universal-robots.com/t/get-inverse-kin-without-robot-connection/4382 "2019-05-27T03:09:22Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon28705252](https://avatars.discourse-cdn.com/v4/letter/a/da6949/32.png) [@anon28705252](https://forum.universal-robots.com/u/anon28705252)\
**Post date:** [May 27, 2019, 3:09am UTC](https://forum.universal-robots.com/t/get-inverse-kin-without-robot-connection/4382/1 "2019-05-27T03:09:23Z")

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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.

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<div class="post-metadata">

**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [May 28, 2019, 7:22am UTC](https://forum.universal-robots.com/t/get-inverse-kin-without-robot-connection/4382/2 "2019-05-28T07:22:07Z")

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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/](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:

> [@Robot theory and how to use it in UR robots](https://forum.universal-robots.com/t/robot-theory-and-how-to-use-it-in-ur-robots/3863):
>
> This is the theoretical explanation on general robot manipulators and how to use it for the advanced applications with UR robots. Attached the URScript sample is written for the purpose of better understanding. However, it has not been tested so that it is possible to have errors. Looking forward to your awesome development with this! [Robotics in UR Robots\_March 2019.pdf](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/d/d4588fd696b452e4b6566f4f44ada81d9f6e6fe6.pdf) (1.5 MB) [robotics.zip](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/a/ace3805217576f15b30c4f93253de3b0af5473b1.zip) (3.1 KB)