Inverse Kinematics Elbow Up And Elbow Down Configuration

[maxbc]

Hi, I'm trying to obtain both the elbow up and elbow down configurations for a 3R planar manipulator using the the inverse kinematics.vi, however it only returns one solution.

Is there any way to obtain both solutions for each rotational joint? What parameters need to be changed in the inverse kinematics.vi?

Thanks

[S_Kamath]

Are you using the Robotics Module's numerical inverse kinematics?

The numerical inverse kinematics solver does not return all possible values it simply iterates to one of the solutions. The robotics module does include some analytical solutions to specific common 6R types of arms but not for 3R.

However a 3R robot should be fairly simple to solve analytically. You can look at the 4R example for a rough idea on how to do this, though it makes some simplifying assumptions that do not hold for your use case.