Find the Inverse of 4DOF arm kinematics

I'm trying to find the inverse kinematics of robot 4DOF defined user.

I'm following code example found in the "cinematic reverse for Puma 560.vi". This code example works fine but when I try to find the solution of the inverse kinematics of another robot, I get an error.

I have attached a diagram which work towards the front of the kinematics and the code example is just pasted to... used as test (although I remove code that found the cutscenes solutions toward the front of the Puma robot).

I have also attached code that overrides the definition of Puma with 4DOF robot. This is the code where I get an error:
"NI_Kinematics.lvlib:Manipulator Jacobian (end effector Frame) .vi:2-> NI_Kinematics.lvlib:Manipulator Jacobian (framework world) .vi:1-> .vi NI_Kinematics.lvlib:Inverse Kinematics (Point)-> four joint robot arm w IK 2.vi" with error code: "-310041".»

I think this might have to do with my definition of robot... the number of links is different between the two... but I'm not sure.

Ok. figured it out.

It turns out that the reason that the kinematics inverse were not being calculated is the shoulder collapsed joing as defined in table D - H in VI "4 DOF arm." I added a zero length for the first link in the table D - H and now see a stable solution of IK.

Tags: NI Software

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