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Inverse Kinematics

Description

Simulation: Computes the axis values for a defined ABB robot based on a Target.

Input Parameters

Robot (R): Defines the robot based on a robot parameter. A custom robot can be created by using the Robot component.

Move (M): Defines the robot movement. A custom move instruction can be generated by using the Move component.

Variable Input Parameters

Through the right-click menu of the component the following variable input parameters can be added:

Closest (C): Calculate closest Robot Joint Position to previous calculated Robot Joint Position as a bool.

Reset (R): Resets the Robot Joint Position If triggered, the defined axix configuration will be used.

Output Parameters

Robot Joint Position (RJ): Contains the calculated Robot Joint Position.

External Joint Position (EJ): Contains the calculated External Joint Position.

Through the right-click menu of the component the following options are available:

Preview Robot Mesh: Enables or disables the preview of the robot mesh.

Usage

Simulation: Plug the Internal and External Axis Values output parameters of this component into the Internal and External Axis Values input parameters of the Forward Kinematics component to generate a plane for a Target.