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View Full Version : PhantomX Reactor - problems with inverse kinematics



henryk
08-23-2017, 12:06 PM
The standard code for inverse kinematics works (https://github.com/Interbotix/InterbotixArmFirmwareStandalone/tree/master/InterbotiXArmPlayback) just fine for me except, then the last cordinate does not agree with reality. For example, if I set
IKSequencingControl(-150 , 150 , 150 , 0 , 512 , 0 , 2000 , 1000, playState); then the end of the gripper if 10cm above the ground (should be 15cm, right?) and when I set
IKSequencingControl(-150 , 350 , 150 , 0 , 512 , 0 , 2000 , 1000, playState);
the arm is 5cm above the ground (and should be still 15cm?). Let me know is it an expected behavior or my mistake. Thanks in advance!