DHRobot.analytic_ik

DHRobot.analytic_ik()[source]

Analytic inverse kinematics solver for this robot

Return type:

AnalyticIK

Returns:

a solver, which solves for one pose with solve() or ikine(), and writes source code with generate()

Raises:

ImportError – if SymPy is not installed
NotImplementedError – if the arm needs the general 6R method but has a prismatic joint
ValueError – if no analytic solution is found for this arm

The equations are derived symbolically, which takes seconds, and the solver is kept, so the cost is paid once for each robot. An arm with a spherical wrist or three parallel axes has a closed form solution, any other 6R arm is solved by the method of Raghavan and Roth. The robot must have six joints and standard DH links.

Note

This needs SymPy, which is not installed with the Toolbox by default: pip install roboticstoolbox-python[ik]. The extra also installs python-flint, which makes the derivation much faster.

Added in version 1.5.0.