How to achieve dynamic grasping of the Dobot robotic arm's inverse kinematics?

[jiuling]

I set tip-target as an IK group on the built-in Dobot bot, which is set in the Modules-kinematics-Inverse kinematics generator in the menu bar.It worked partially, but some of the joints didn't seem to be included, and I've tried to adjust their positions, but I'm still getting all sorts of errors.Specifically, after starting the simulation, the end slowly descends without operation and an error is reported at the link with the suction cup.

I noticed a related question on the forum in 2020, which is not available after the update, or is there a better solution now?Could it be related to singularities?

My file link is as follows:
https://drive.google.com/file/d/1Tgyfqt ... drive_link

Thank you for your answer.

[jiuling]

I also want to ask what to do if I want to rotate the coordinate system of the robotic arm?
I could not find that option.

[coppelia]

Hello,

we cannot access your file.
Also, the dobot robot is a bit more compicated, since it has some loops.
If you want to read/move an object relative to another reference frame, use the related functions with a last argument, e.g.:

Code: Select all

local relativePose = sim.getObjectPose(objectHandle, refFrameHandle)
relativePose[1] = relativePose[1] + 0.001
sim.setObjectPose(objectHandle, relativePose, refFrameHandle)

Cheers