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.