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Avoid using x link/links during kinematics

EmaB
EmaB ✭
in Collaborative Robots
Hello, is there a way to avoid using a specific link in the implicit calculation of the inverse kinematics?
I am referring in particular to the IRB14050, where the 4° link is modeled as a separated mechanical unit inside its controller, but of course this may be useful for other types of manipulators. My idea was to "disable" this link and see if the controller was able to IK some paths withouth it.
I don't think there's a specific command to do it, but maybe with some manipulation in the controller settings it's possible.
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