Does anyone know if there is a function in KUKA Sunrise (I'm using 1.10) to do a direct call of the inverse kinematics?
I am trying to command my robot to hit some points at a particular approach angle so I just have two angles for azimuth and elevation, so right now I'm just calculating my A/B/C rotation angles from those two inputs. Since I have more degrees of freedom in those three angles than I need, I would really like to pick a target that avoids the joint limit on joint 7 and maybe even picks a better elbow angle to avoid some other.
Thanks for any help. Sorry if someone has brought this up already. I'm new to the forum but I did a search and didn't see any relevant answers.