How to use inverseKinematics to find configuration to 1) get robot link to pass through position X1 in space and also 2) have end effector position X2?

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Eva
Eva 2021-1-18
回答： Yiping Liu 2021-1-18
I have used rigidBody structures to create a robot with one end-effector.
I am trying to use inverseKinematics to find a configuration that achieves two goals:
1) The end effector must have a certain pose.
2) A certain robot link (so the link between two consecutive coordinate frames) must pass through a certain position in space.
I already know how to achieve goal 1.
I have two questions:
1) How do I achieve goal 2?
2) How would I find a configuration that combines both goals?
I would be very grateful for any help that you can offer me.

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回答（1 个）

Yiping Liu
Yiping Liu 2021-1-18
Sounds like you are trying to solve a multi-constraint IK problem. You should check out the generalizedInverseKinematics feature in the Robotics System Toolbox.
https://www.mathworks.com/help/robotics/ref/generalizedinversekinematics-system-object.html
Also take a look at the following two examples:

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