Robotics toolbox - why this error?

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Za Ka
Za Ka 2017-11-9
回答： Youssef Ben Dhiab 2017-11-28
L(1) = Link([0, 0, 200, 0], 'R'); L(2) = Link([0, 0, 230, 0], 'R');
R = SerialLink(L, 'name', 'two link');
R.plot([0.5, 0.7])
R.teach();
T = transl(0.4, 0.5, 0.6); q = R.ikine(T, [rad1, rad2], [1, 1, 0, 0, 0, 0]);
_ Error using SerialLink/ikine (line 164) Number of robot DOF must be >= the same number of 1s in the mask matrix Error in neki (line 26) q = R.ikine(T, [rad1, rad2], M);

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Youssef Ben Dhiab
Youssef Ben Dhiab 2017-11-28
Hi Za Ka, You should specify what are your inputs:
  • [1, 1, 0, 0, 0, 0] is the mask vector 'mask'
  • [rad1, rad2] is the initial joint configuration 'q0'
So, change the last line like that : I = R.ikine(Td, 'q0', [rad1, rad2], 'mask',[1, 1, 0, 0, 0, 0]) It should work. If it didn't you have to change the initial pose [0, 0] by some other values like [pi/2, pi] so that it can converge after less than 1000 iterations.

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