IK question

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IK question

Antons Rebguns-2
Hi folks,

I am trying to generate an IK solution for a 7DOF arm and it fails with the following message:

Taking the inverse of the mechanism (sometimes intersecting joints are on the base)
could not divide translation/rotation
failed to genreate ik solution

Can someone explain what these mean?

Thanks,
Anton

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Re: IK question

Rosen Diankov
Administrator
it means you don't have an 3 consecutive joint axes that intersect at
the same point. Usually this occurs at the wrist, but some robots have
that occurring at the base.

rosen,

2010/8/11 Antons Rebguns <[hidden email]>:

> Hi folks,
> I am trying to generate an IK solution for a 7DOF arm and it fails with the
> following message:
> Taking the inverse of the mechanism (sometimes intersecting joints are on
> the base)
> could not divide translation/rotation
> failed to genreate ik solution
> Can someone explain what these mean?
> Thanks,
> Anton
> ------------------------------------------------------------------------------
> This SF.net email is sponsored by
>
> Make an app they can't live without
> Enter the BlackBerry Developer Challenge
> http://p.sf.net/sfu/RIM-dev2dev
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> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users
>
>

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