Analytical Inverse Kinematics for UR

Hello,

Would it be possible to let me know if there are any plans to include UR robots in the analyticalInverseKinematics function? If so, do you have an estimated timeline for this?

It would be a significant help for my project, as my alternatives are either to develop a custom implementation of analytical inverse kinematics (AIK) or to use generalized inverse kinematics, which doesn’t always guarantee a viable solution for every configuration.

If you have any advice or suggestions for this situation, I’d greatly appreciate it.

Thank you in advance.

[Umang Pandey]

Hi Denizhan,

You can check if the "Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators" solves your problem. You can refer to the following File Exchange link:

https://www.mathworks.com/matlabcentral/fileexchange/117530-robotics-system-toolbox-support-package-for-universal-robots-ur-series-manipulators

Answer 1

[Remo Pillat]

Hi Denizhan,

The UR-series robots aren't currently supported by our analytical inverse kinematics solvers, which only work for robots that include a 6-DoF chain in which the last three axes intersect at a point (i.e. there is a wrist). While the UR robots appear to have a wrist, the axes do not intersect at a single point, so the method used to compute analytical inverse kinematics is not applicable. We're aware of the limitation and working to expand the set of supported robots, but that requires some different solution approaches.

You can see more detail on this here: https://www.mathworks.com/matlabcentral/answers/688879-no-valid-kinematic-groups-were-found#answer_940295