IK_NR.solve

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

Solves the IK problem

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

Parameters:

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

• Tep (Union[SE3, ndarray]) – The desired end-effector pose

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

Return type:

IKSolution

Returns:

• q – The joint coordinates of the solution (ndarray). Note that these will not be valid if failed to find a solution

• success – True if a valid solution was found

• iterations – How many iterations were performed

• searches – How many searches were performed

• residual – The final error value from the cost function

• jl_valid – True if q is inbounds of the robots joint limits

• reason – The reason the IK problem failed if applicable