public bool CalculateInverseKinematics(
	RsTarget target,
	RsToolData tool,
	bool useConfiguration,
	out double[] resultJointVector
)

Parameters

target

Type: ABB.Robotics.RobotStudio.StationsRsTarget
The target position. This is the position that shall coincide with the tool.

tool

Type: ABB.Robotics.RobotStudio.StationsRsToolData
The tool that should coincide with the target. The RobotHold property is used to determince if the tool is stationary or held by the robot.

useConfiguration

Type: SystemBoolean
Specifies if the exact arm configuration stored in the target shall be used for the calculation. If set to true, the arm configuration is used. In this case this method returns true only if the mechanism can move to the specified target with its specified arm configuration. If the parameter is set to false, the arm configuration that is closes to the current mechanism joint values is returned, if the target is reachable.

resultJointVector

Type: SystemDouble
Out parameter that contains the joint values, the mechanism would have if it was moved to the target position. If this method returns false, the joint values are undefined.

Return Value

Reference