search

xArm-Developer / xArm-CPLUS-SDK

C++ SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
41 stars 28 forks source link

get_inverse_kinematics returns current robot angles #2

Closed jdsl-software closed 2 years ago

jdsl-software commented 4 years ago

get_inverse_kinematics(f32 pose, f32 angles) returns the current robot angles (with slight offset) instead of the angles needed to reach the input Cartesian pose.

I'm trying to perform a NON linear motion (point to point) with Cartesian coordinates, hence I would like to use set_servo_angle(angles, speed, acc, mvtime, wait, timeout) with the angles calculated from inverse kinematics.

Or is there another way to achieve this ?

rjs5327 commented 4 years ago

I am having a similar issue where the get inverse kinetics is not working properly

vimior commented 4 years ago

The results obtained by this interface will be affected by the current position of the robotic arm, which is not recommended for the time being

rjs5327 commented 4 years ago

Is there a expected firmware update to address this in the pipeline?

MinnaZhong commented 2 years ago

We have optimized get_inverse_kinematics, please update to the latest firmware and xArmStudio version to V1.8.5 to test.

Issued closed.