How to use inverseKinematics to find configuration to 1) get robot link to pass through position X1 in space and also 2) have end effector position X2?

I have used rigidBody structures to create a robot with one end-effector.

I am trying to use inverseKinematics to find a configuration that achieves two goals:

1) The end effector must have a certain pose.

2) A certain robot link (so the link between two consecutive coordinate frames) must pass through a certain position in space.

I already know how to achieve goal 1.

I have two questions:

1) How do I achieve goal 2?

2) How would I find a configuration that combines both goals?

I would be very grateful for any help that you can offer me.

Answer 1

[Yiping Liu]

Sounds like you are trying to solve a multi-constraint IK problem. You should check out the generalizedInverseKinematics feature in the Robotics System Toolbox.

https://www.mathworks.com/help/robotics/ref/generalizedinversekinematics-system-object.html

Also take a look at the following two examples:

• Control PR2 Arm Movements Using ROS Actions and Inverse Kinematics
• Plan a Reaching Trajectory With Multiple Kinematic Constraints