Analytical Inverse kinematics solution for ABB GoFa CRB 15000

RobotStudio
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1

Hello everyone.
I am not a robotics expert (I barely know the DH notation), but if I am not mistaken the inverse kinematics of a manipulator with a spherical wrist, i.e. with the last three joint axes intersecting, has an analytical solution calculated by a closed-form expression. This expression should guarantee the exact calculation of the joint angles to obtain the desired pose of the tool center point in 3D space. In addition, different manipulator configurations corresponding to the same pose can be calculated.

However, given the kinematic scheme of the GoFa, with the 6th axis not intersecting, if there is no analytical solution to the inverse kinematics of this robot, how are the joint angles calculated in RobotStudio? Is an IK numerical method used? And how is it possible to have a list of the possible configurations for a desired target?

Thanks in advance and I apologize if the question is trivial

2

I don’t think robot kinematics are to be disclosed for any brand

3

I’m not expecting ABB to disclose the exact calculations. As I said, I haven’t a deep knowledge of manipulators kinematics and I thought asking in ABB forum for some hints on how the IK problem is handled by ABB was a good idea, but I guess I was wrong