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Fragen
IK Limits
I'm working on some digital twin of a 6 axis arm robot and would like to use the IK.
I actually have something that's currently working fine, but we've found out that some of the joints are reverse and that one of them needs an offset. However - once I fix all that the IK breaks.
I saw in the documentation that there are some strict limitations.
I just wanted to understand where am I still free to play around, and if it's possible to fix the IK somehow:
1. Can I reverse the joint's direction (the bottom two are fine but the rest need reversing)?
2. Can I add an offset so that when the 3rd joint is at 0 angle the robot will be at 90 degrees?
3. If not - is there some recommended method to convert the values so that they would fit the real values?
Customer support service by UserEcho
Hi,
thanks for your questions. Here are our answers:
1) no you cant reverse the direction because the IK is based on a certain setup.
2) no you cant - robot needs to be in a defined 0 position
3) why do you need to have the "real" axis positions - If in real robot axis are inverted or with an offset - I think it is more important that IK inside realvirtual is working. Otherwise you could connect your real robot controller and use an interface.
Best regards
Thomas
Thanks for the answers.
Actually I've tried just to add the offset to a certain drive (axis 3, 90 degree offset) and mark "Elbow in Unity X" under the RobotIK configuration and it seems to work fine!
I thought that the "why" part is clear - I want it to be as close to the real robot as possible, both so that the users will see something close to the real thing in the simulation, and to allow us to connect with the real robot more easily.
We will try to convert the values in the UI for what can't be fixed. I was just not sure what are the exact limitations (and if we should expect problems with the Elbow thing, please inform me).