IK_LM.solve

IK_LM.solve(ets, Tep, q0=None)

Solves the IK problem

Parameters:

• ets (ETS) – The ETS representing the manipulators kinematics

• Tep (SE3 | ndarray) – The desired end-effector pose

• q0 (Union[ndarray, List[float], Tuple[float, ...], None]) – The initial joint coordinate vector

Returns:

An IKSolution containing joint coordinates q, success flag, iterations, searches, residual error value, and reason string if applicable

Return type:

IKSolution

This method will attempt to solve the IK problem and obtain joint coordinates which result the the end-effector pose Tep.