Inverse kinematics with constraints for ABB IRB4600 60_2.05

compas_rrc
1

Hi everyone,

I want to move the robot to a specific frame but with some fixed angle constraints. I was looking into inverse kinematics with constraints in COMPAS RRC, but it looks like that I need the model of the robot. is the model of ABB IRB4600 60_2.05 available now? Are there any other solutions in COMPAS RRC?

Thank you.

2

COMPAS RRC only does controlling/execution, for planning, you can use COMPAS FAB, which does indeed have models for these robots.

There’s different ways to load a robot model, depending on which backend you want to use. The simplest is to use a plain IK solver based on DH-params from COMPAS FAB. These solvers don’t do collision checking, but they are enough for doing IK and are a quick way to get started. Once you want to move into more sophisticated planning tools, you can switch the backend to pybullet or to ROS/MoveIt (still using COMPAS FAB)

Cheers

1 Like
3

Hi Mahsa,

To add onto Gonzalo’s reply as another option, you could directly feed a COMPAS frame (with the target position and orientation you need) into the MoveToFrame() command from COMPAS_RRC. The frame can either be manually created/coded or parametrically created (in Grasshopper for example). Then, you could visualize this virtually using ABB RobotStudio where all the ABB robot models are available.

With this workflow, you won’t need to directly solve the inverse kinematics so it may be simpler to get started with (before you move onto COMPAS FAB if you would still need to in the future). If this isn’t what you’re looking for, could you give some more information about what you would like to achieve with the robot?

Hope this helps!

1 Like
4

Hi Adonis,

Thank you for your response. I want the robot to move to a specific frame with some joint angles fixed, so I want to make the inverse kinematics constrained on some joint angles.