Robot IK mode problem
Posted: 22 Jan 2021, 10:33
Hello Coppelia
I have a UR5 robot in my scene, attached to a cuboid. I want to control it in IK mode. I made the tip and target dummies, added the tip/target link, the Ik group everything as you explained. All the joints are in inverse kinematics mode, with hybrid operation checked as well. I added a third dummy, the desired position of the robot tip. I wanted to programmatically make a path to that desired position. The sim.followPath is called from a threaded child script of the UR5. So, as the simulation starts a path is created from the target dummy to the desired position dummy. The path is visible as a red line. However, as soon as the simulation starts, the robot starts behaving unexpectedly. Its moves are very jerky and unnatural and it does not follow the path at all. It doesn't even matter where the desired position dummy is placed, the robot behaves in the same way. I even tried putting the desired position very close to the tip, where it can certainly be reached, but the same thing happened.
Do you have any idea as to why this is happening and how I could find the error and fix it?
Thanks in advance
Cheers
I have a UR5 robot in my scene, attached to a cuboid. I want to control it in IK mode. I made the tip and target dummies, added the tip/target link, the Ik group everything as you explained. All the joints are in inverse kinematics mode, with hybrid operation checked as well. I added a third dummy, the desired position of the robot tip. I wanted to programmatically make a path to that desired position. The sim.followPath is called from a threaded child script of the UR5. So, as the simulation starts a path is created from the target dummy to the desired position dummy. The path is visible as a red line. However, as soon as the simulation starts, the robot starts behaving unexpectedly. Its moves are very jerky and unnatural and it does not follow the path at all. It doesn't even matter where the desired position dummy is placed, the robot behaves in the same way. I even tried putting the desired position very close to the tip, where it can certainly be reached, but the same thing happened.
Do you have any idea as to why this is happening and how I could find the error and fix it?
Thanks in advance
Cheers