DHRobot.ikine_analytic

DHRobot.ikine_analytic(T, q0=None, joint_limits=True, weights=None)[source]

Analytic inverse kinematics

Parameters:

  • T (SE3 | ndarray) – end-effector pose, or a trajectory of poses

  • q0 (ndarray | Sequence[float] | None) – configuration to be near, default zeros

  • joint_limits (bool) – reject solutions that violate the joint limits

  • weights (ndarray | Sequence[float] | None) – weight of each joint in the distance from q0

Return type:

IKSolution

Returns:

the solution, nearest to q0, see ikine()

This is self.analytic_ik().ikine(...). The first call for a robot derives the equations, see analytic_ik(), and the solver is kept for the calls that follow.

Added in version 1.5.0.