Question: 6 DOF manipulator Inverse kinematics


I'm new to maple and maplesim and I'm trying to model a 6 DOF manipulator (IRB 140); derive its forward and inverse kinematics and control it.

I modeled the manipulator in maplesim and attached the CAD files, but I don't know how to derive the inverse kinematics!

I tried to define the end effector position and orientation symbolicly, by putting sympolics in end effector output frame an defining default values for them to use them in MultiBody analysis attachment; but it gives the error:

cannot resolve `Main.EE1.x`; there is no `x` in variable `Main.EE1`

Does anyone know the solution?

the maplesim file:  IRB140.msim

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