Clear Filters
Clear Filters

How to use inverseKinematics to find configuration to 1) get robot link to pass through position X1 in space and also 2) have end effector position X2?

1 view (last 30 days)
I have used rigidBody structures to create a robot with one end-effector.
I am trying to use inverseKinematics to find a configuration that achieves two goals:
1) The end effector must have a certain pose.
2) A certain robot link (so the link between two consecutive coordinate frames) must pass through a certain position in space.
I already know how to achieve goal 1.
I have two questions:
1) How do I achieve goal 2?
2) How would I find a configuration that combines both goals?
I would be very grateful for any help that you can offer me.

Answers (1)

Yiping Liu
Yiping Liu on 18 Jan 2021
Sounds like you are trying to solve a multi-constraint IK problem. You should check out the generalizedInverseKinematics feature in the Robotics System Toolbox.
Also take a look at the following two examples:

Categories

Find more on Network Connection and Exploration in Help Center and File Exchange

Products


Release

R2020b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!