Author Topic: Inverse Kinematic issue of Motoman MA1900  (Read 972 times)

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Offline Jannie

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Inverse Kinematic issue of Motoman MA1900
« on: October 25, 2016, 12:14:09 PM »
Hi all,

I am working on a simulation project of Motoman MA1900, I use Robotic Toolbox of Matlab to solve the problem but it says
"wrist is not spherical".

Then I realize that there's 30mm shift between the 6th axes and 4th axes, see the pic attached.

Please help. How can I solve the inverse kinematic of such kind of robot? Any suggestion or tip, thanks~