Open ProvendierCedric opened 2 years ago
Can you tell me what isn't working? (Maybe provide some output)
The result is axe A-45 and axe C90 but the result for this code is axe A = 180 and axe C= 0
Please try to provide (a lot) more context. And please form some solid sentences, so I don't need to guess what you mean.
the goal it's calculate the rotations of axis for five axis Machine tool. I need just aligned my tool with on a vector. all rotation axis is on head of the machine. the code that I you send not get the good result and i don't understand why.
thank you very much for your help.
Can you please run the code and provide me with the output.
joint 0 , joint 1, joint2 it's the translations so it's not important for aligned the vector. the result should be : axe A 180 axe C0 for aligne tool on rotation of 90 degrees around X.0 for aligne tool on rotation of 90 degrees around X.
Did you check the return value of the solver? If the solver didn't succeed, it is a good explanation for the incorrect results.
Ok, the return value is -5 so the solver didn't succeed. But do you know why the solver fail? What wrong in my code?
-5
means the maximum number of iterations is reached.
ChainIkSolverPos_NR iksolver1(chain, fksolver1, iksolver1v, 10000, 1e-6);
I have 10000 iterations maximum. I need more than 10000 ? it's strange? no?
I would also think that I would not require that much iterations. Though I don't have the time to figure out if you are using the solvers the wrong way or that the solvers contain a bug. (The latter is also very unlikely as these solvers don't change that much and we have many tests.)
It's possible I using the solver the wrong way.... but i don't see my error.
hi
How do you do? i tried integrate KDL for aligned the last branch of the robots n one vector. I not need follow the position just aligned on vector. i have tried this but not works do you can help me please?