Get_inverse_kin() without Robot connection

[m.birkholz]

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:

Robot theory and how to use it in UR robots

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 (1.5 MB) robotics.zip (3.1 KB)