vrep study notes 3 - the end of the inverse kinematics of the UR5e robotic arm moves along the path path

How to use vrep to simulate the movement of the end of the UR5e manipulator along a known path? How to set up the inverse kinematics of the robotic arm?

Table of contents

1. Add dummy​Edit

2. Move dummy to the end point of the planned path

3. Rename dummy to tip

4. Duplicate a dummy

5. Change the copied dummy to target

6. Connect the two dummy

​7. Drag the tip to the relationship between the end of the robot arm (that is, the end you want to move)

8. Set up inverse kinematics

9. Change each joint setting to the one shown in the image below:

10. Click the run button to start the simulation, click the translation button to drag the target to check the inverse kinematics

11. Make the end of the robotic arm move along the path

Add path path

 Add code on target

 Double-click the code and enter the following code​Edit

Click the simulation button, it is successful

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reference connection

Vrep/CoppeliaSim_Movement along the path (Part 1): Inverse Kinematics_Li Xian's Blog-CSDN Blog In Vrep, the robot can follow the set path movement. To make the robot follow the path, first establish inverse kinematics. https://blog.csdn.net/sinat_39153249/article/details/106626985?spm=1001.2014.3001.5502

Vrep/CoppeliaSim_Movement along the path (below): Setting the path_Many blog-CSDN blog_ceppeliasim The path in ceppeliasim is based on the establishment of inverse kinematics, and the path can be set to make the robot move along the path. https://blog.csdn.net/sinat_39153249/article/details/106628850?spm=1001.2014.3001.5502

1. Add dummy

2. Move dummy to the end point of the planned path

3. Rename dummy to tip

4. Duplicate a dummy

 

5. Change the copied dummy to target

6. Connect the two dummy

7. Drag the tip to the relationship between the end of the robot arm (that is, the end you want to move)

8. Set up inverse kinematics

 

 

9. Change each joint setting to the one shown in the image below:

10. Click the run button to start the simulation, click the translation button to drag the target to check the inverse kinematics

11. Make the end of the robotic arm move along the path

Add path path

 Add code on target

 Double-click the code and enter the following code

path = sim.getObjectHandle('Path')

target = sim.getObjectAssociatedWithScript(sim.handle_self)

sim.followPath(target,path,3,0,0.5,0.2)

Click the simulation button, it is successful