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MechanismCalculateInverseKinematicsAsync Method (RsTarget, RsToolData, Boolean)
Calculates inverse kinematics for the mechanism. Given the specified RsTarget and RsToolData, this method returns the joint values the mechanism would have if it was moved to the pose. A mechanism can often reach the specified pose with different arm configurations. Using the useConfiguration you force the arm configuration stored in the RsTarget to be used.

Namespace:  ABB.Robotics.RobotStudio.Stations
Assembly:  ABB.Robotics.RobotStudio.Stations (in ABB.Robotics.RobotStudio.Stations.dll) Version: 7.0.8747.636
Syntax
C#
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public Task<double[]> CalculateInverseKinematicsAsync(
	RsTarget target,
	RsToolData tool,
	bool useConfiguration
)

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.

Return Value

Type: TaskDouble
Joint values if the mechanism can move to the target position, otherwise null.
Remarks
When using this overload the target position shall not be converted to to mechanism base frame coordinates.
Version Information

Supported in: 1.0.0.0
See Also