INVERSE KINEMATIC CALCULATION WITH USING ONLY X,Y,Z VALUES

[yagizyalcintas]

User Story

Hello, I am currently using the official API for UR-10 to move the robot in cartesian coordinates but having unpredictable behavior so I tried to use your library to solve IK.

I was hoping to have x,y,z coordinates as input to get the joint degree values which is similar to robot.ik() function but the problem is it requires rotational values as well as x,y,z coordinates. If I do not have the rotation matrix but only know the target position I want to reach, is it still possible use ik() functionality to get the joint degree values?

[engnadeau]

typically you want an orientation in addition to a position, since that's a "pose". Two possibilities I recommend:

• the IK algorithm can be modified to not need orientation and then it'll solve for any orientation that satisfies the IK
• use the current orientation with the new XYZ