CoppeliaSim forums

Hello everyone.

I'm trying to learn V-REP for robot simulation and have some problems at the beginning. Following IK tutorial I've tried to make UR5 robot working in IK mode (no dynamics). Unfortunately, it jitters and does not reach the target position even if it's clearly reachable. What could be a possible reason for this?
Scene:
https://drive.google.com/file/d/17EkQfY ... sp=sharing

Hello,

your main problem is that you still have a script attached to object UR5, that tries to control the joints in FK mode. Obviously having two contradictory controllers for your joints won't work. Simply remove the script.
Also, but this is not linked to your problem directly, you still have dynamically enabled shapes in your robot (notice the bouncing ball icons in the scene hierarchy)

Cheers

I've followed your advise and it worked. Thank you.