Universal Robots Forum

getInverse: Unable to find a solution. The robot can't reach this position

movej(get_inverse_kin(p[-0, -0.25614, 1.4273, 0, 2.22144, -2.22144]), a=1.4, v=1.05, t=0, r=0)

When you write the script and run the program as shown above, an error similar to the title appears.
p[] is home position at Move tab.
If you modify the p[], the robot moves normally.

The same applies when you use the joins value that corresponds to the home position as qnear. [0, -1.57, 0, -1.57, 0, 0]

Ask for help.

The home position is at the full stretch of the robot arm.
I reckon the get_inverse_kin() function does not find a solution, simply due to tolerance/deviation in some of the final digits, that make the resulting position borderline the actual reach of the robot.

Thank you for answer.
I solved it just by entering the joints value.

Hello,
how would I be able to check if position is reachable? If I try to use get_inverse_kin() for unreachable position, Polyscope shows a dialog window and stops the program. How should I handle that?

You could eventually check your pose before moving using the is_within_safety_limits(pose) function

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Thanks. :slight_smile: I didn’t see that function before.