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For information on the latest version, please have a look at GL013301.

ikin

This function receives the input data of joint angles (fSourcePos) or equivalent forms (float[6]) in the joint space and returns the TCP (objects in the task space) based on the ref coordinate (eTargetRef).

Definition
DRFLEx.h within class CDRFLEx, public section (line 666)

LPROBOT_POSE ikin(
    float fSourcePos[NUM_TASK],
    unsigned char iSolutionSpace,
    COORDINATE_SYSTEM eTargetRef = COORDINATE_SYSTEM_BASE
) {
    return _ikin(_rbtCtrl, fSourcePos, iSolutionSpace, eTargetRef);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fSourcePos	float[6]		Input joint angles (or equivalent task data) representing the robot’s pose for six axes.
iSolutionSpace	unsigned char		Solution space index (0-7). Indicates which inverse kinematics configuration to use (e.g., elbow up/down, wrist flip, etc.).
eTargetRef	COORDINATE_SYSTEM	COORDINATE_SYSTEM_BASE	Reference coordinate system for the calculated TCP.

Return

Value	Description
ROBOT_POSE	Calculated TCP pose (x, y, z, Rx, Ry, Rz) in the specified eTargetRef coordinate system.

Example

float x1[6] = { 370.9, 719.7, 651.5, 90, -180, 0 };
LPROBOT_POSE res = drfl.ikin(x1, 2);

float q1[6] = { 0 };
for (int i = 0; i < 6; i++) {
    q1[i] = res->_fPosition[i];
}

drfl.movej(q1, 60, 30);

In this example, the function computes the inverse kinematics to determine the TCP pose of the robot corresponding to a given joint configuration. By selecting iSolutionSpace, the user can control which configuration (among multiple possible IK solutions) the robot should maintain when executing subsequent motion commands.