Username: RoboticistInTraining
Posted: 1 week ago
Trying to implement inverse kinematics for a 6dof robot arm and its harder than i thought. Forward kinematics works fine but IK is giving me headaches. Sometimes the arm moves to weird configurations or gets stuck. Using python and numpy. Should i be using a library for this or is it good practice to implement it myself?
Reply by: KinematicsGuru
IK is definitely tricky especially for 6dof. For learning purposes, implementing it yourself is great but for production use a library like ikpy or the ik solvers in robotics toolbox. They handle edge cases much better. Make sure youre handling singularities and joint limits properly. Also consider using jacobian-based methods instead of analytical solutions, they tend to be more robust. What method are you currently using?
