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+--- Thread: UR10 Use of controller kinematics - configurations problem (/Thread-UR10-Use-of-controller-kinematics-configurations-problem)
UR10 Use of controller kinematics - configurations problem-fmonbrun-07-03-2020
Hello,
I use an UR10 and to get the same tcp values as the real robot (teach pendant), I used the script UR_LoadControllerKinematics.pt to import the Denavit Hartemberg parameters of the robot under robodk robot.
It works fine but I do not have the choice on robot configuration when the controller kinematic is enabled.
Is there a way to compute all the configuration possibilities with controller kinematics enabled ?
- controller kienmatics disabled
- controller kinematics enabled
Thanks for your support
Florent
RE: UR10 Use of controller kinematics - configurations problem-Albert-07-09-2020
Hi Florent,
This is currently not possible. This happens because the inverse kinematics is iterative if you activate the UR controller kinematics.
In any case, we'll try to add it as an option in the near future.
Albert