I'm using a LBR iiwa 7 which owns a redundancy axis J3.
My question is if it is possible that the IK (inverse kinematic) takes this redundant axis in account?
If not I would like to know how to deal with it programmatically.
At the moment only the joints J1, J2 and J4 - J7 are used from the IK. J3 remains unaffected. This causes a "Software Axis Limit Violation" for quite a lot frames which I expected should be easy to reach because other surrounding frames are no problem at all.
By inspecting the current joint positions for this problematic frame I see that at least one joint hits its axis limit.
The thing is if I adjust J3 manually (which obviously implicates that other joint positions are changing as well) I can find easily an angle for J3 so that all joints are far enough from theirs limits. And of course now the desired frame gets reachable when the program continues.
In summary I am looking for a way to enable the automatically usage of the redundancy or at least make this adjustment programmatically.