RobotStudio event

CalculateInverseKinematics

ted_morell
ted_morell ✭
in RAPID Programming
I am try to Calculate inverse kinematics given a pose and a starting set of joint values using the method :
public bool CalculateInverseKinematics(
	Matrix4 pose,
	double[] referenceJointValues,
	double[] integratedUnitsJointValues,
	Matrix4 toolMat,
	bool fixedObject,
	out double[] resultJointVector
)
However I do not understand the parameters integratedUnitsJointValues nor fixedObject
and I do not find further information in Abb library
Can someone help me ?

Regards,

Comments

  • EricH
    EricH ✭
    Do you mean CalcJointT or CalcRobT? Your syntax doesn't look like RAPID

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