## Each time maximum number of valid configs changes depending on the pick up point

Hello,

I am trying to generate some valid pick up configurations for a given orientation ( I have 17 different orientations to test) around some points in space with UR5e. I count them as well so that I know the exact number of valid pick up configurations around each point. The thing is, sometimes when I run the simulation for some points, it counts less or more then it did before. So let’s say the result of the first execution for the point A was 16 valid pick up configs around that point, the second time it can be 13 for example instead of 16. Why is this happening ? Should I modify the solver parameters of gik to overcome this ? Because if sometimes it looks like the UR5 can’t reach certain poses but other times it can so it’s not really viable.

Hello,

I am trying to generate valid pick-up configurations for a given orientation with a UR5e robot. I have 17 different orientations to test around specific points in space. For each point, I count the number of valid pick-up configurations to determine the exact number of feasible configurations.

However, I have encountered an inconsistency: the number of valid configurations varies between simulation runs. For instance, for a given point A, the first execution might yield 16 valid configurations, while the second might yield only 13.

Why is this inconsistency happening? Should I modify the solver parameters of the Generalized Inverse Kinematics (GIK) solver to achieve consistent results ? How can I be sure of getting the maximum reachable configurations? Because of this problem, it appears that sometimes the UR5e can reach certain poses, but other times it cannot, which undermines the reliability of the simulations.

Thank you for your assistance.Hello,

I am trying to generate some valid pick up configurations for a given orientation ( I have 17 different orientations to test) around some points in space with UR5e. I count them as well so that I know the exact number of valid pick up configurations around each point. The thing is, sometimes when I run the simulation for some points, it counts less or more then it did before. So let’s say the result of the first execution for the point A was 16 valid pick up configs around that point, the second time it can be 13 for example instead of 16. Why is this happening ? Should I modify the solver parameters of gik to overcome this ? Because if sometimes it looks like the UR5 can’t reach certain poses but other times it can so it’s not really viable.

Hello,

I am trying to generate valid pick-up configurations for a given orientation with a UR5e robot. I have 17 different orientations to test around specific points in space. For each point, I count the number of valid pick-up configurations to determine the exact number of feasible configurations.

However, I have encountered an inconsistency: the number of valid configurations varies between simulation runs. For instance, for a given point A, the first execution might yield 16 valid configurations, while the second might yield only 13.

Why is this inconsistency happening? Should I modify the solver parameters of the Generalized Inverse Kinematics (GIK) solver to achieve consistent results ? How can I be sure of getting the maximum reachable configurations? Because of this problem, it appears that sometimes the UR5e can reach certain poses, but other times it cannot, which undermines the reliability of the simulations.

Thank you for your assistance. Hello,

I am trying to generate some valid pick up configurations for a given orientation ( I have 17 different orientations to test) around some points in space with UR5e. I count them as well so that I know the exact number of valid pick up configurations around each point. The thing is, sometimes when I run the simulation for some points, it counts less or more then it did before. So let’s say the result of the first execution for the point A was 16 valid pick up configs around that point, the second time it can be 13 for example instead of 16. Why is this happening ? Should I modify the solver parameters of gik to overcome this ? Because if sometimes it looks like the UR5 can’t reach certain poses but other times it can so it’s not really viable.

Hello,

I am trying to generate valid pick-up configurations for a given orientation with a UR5e robot. I have 17 different orientations to test around specific points in space. For each point, I count the number of valid pick-up configurations to determine the exact number of feasible configurations.

However, I have encountered an inconsistency: the number of valid configurations varies between simulation runs. For instance, for a given point A, the first execution might yield 16 valid configurations, while the second might yield only 13.

Why is this inconsistency happening? Should I modify the solver parameters of the Generalized Inverse Kinematics (GIK) solver to achieve consistent results ? How can I be sure of getting the maximum reachable configurations? Because of this problem, it appears that sometimes the UR5e can reach certain poses, but other times it cannot, which undermines the reliability of the simulations.

Thank you for your assistance. matlab, inversekinematics MATLAB Answers — New Questions