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orocos / orocos_kinematics_dynamics

Orocos Kinematics and Dynamics C++ library
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5Dof IK is not reporting angles as expected #414

Open mink007 opened 1 year ago

mink007 commented 1 year ago

I configured my 5Dof robotic arm chain. For some reason, the end effector does not reach the desired position and always skip the distance of the last link length.

I see the issue described here somewhat relevant: https://www.orocos.org/forum/orocos/orocos-users/help-5-dof-arm

and I did add virtual joint with DH parameters as all 0.0 for virtual joint, but the problem still persists.

Any insights on how to get IK results where the last link length is considered by the IK solver?

Thank you for help.