sya
November 3, 2021, 3:43am
7
Hi @p.jinhyeok
You could check this thread as a reference.
The following part of the Script Manual gives you insight in the usage of this command:
[getInverseKin]
You can also provide a list of joint angles, which are near the expected result values. With this you can avoid switching e.g. between Ellbow Up and Down Positions unintentionally for the same robot TCP pose.
The Script Manual can found on our Support Site : Downloads → Manual → Script → Desired SW Version
Servoj need to fill in 6 joint position as a list so you could combine the get_inverse_kin() to convert your TCP position command to joint position command.
Thanks
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