CalculateInverseKinematics

RAPID Programming
1

I am try to Calculate inverse kinematics given a pose and a starting set of joint values using the method :

public bool CalculateInverseKinematics(
	Matrix4 pose,
	double[] referenceJointValues,
	double[] integratedUnitsJointValues,
	Matrix4 toolMat,
	bool fixedObject,
	out double[] resultJointVector
)

However I do not understand the parameters integratedUnitsJointValues nor fixedObject
and I do not find further information in Abb library

Can someone help me ?

Regards,

2

Do you mean CalcJointT or CalcRobT? Your syntax doesn’t look like RAPID