# \#robot-joint-configuration

**URL:** https://tech-community.robotics.abb.com/tag/robot-joint-configuration/387.md

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## [Analytical Inverse kinematics solution for ABB GoFa CRB 15000](https://tech-community.robotics.abb.com/t/analytical-inverse-kinematics-solution-for-abb-gofa-crb-15000/11903)

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**Author:** [@moreuser25](https://tech-community.robotics.abb.com/u/moreuser25)\
**Replies:** 2\
**Last updated:** [May 8, 2025, 7:46pm UTC](https://tech-community.robotics.abb.com/t/analytical-inverse-kinematics-solution-for-abb-gofa-crb-15000/11903 "2025-05-08T19:46:18Z")

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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 …

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## [Calculation of configuration (CF1, CF4, CF6) given CFX](https://tech-community.robotics.abb.com/t/calculation-of-configuration-cf1-cf4-cf6-given-cfx/10818)

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**Author:** [@RAH101](https://tech-community.robotics.abb.com/u/RAH101)\
**Replies:** 5\
**Last updated:** [July 31, 2022, 7:41pm UTC](https://tech-community.robotics.abb.com/t/calculation-of-configuration-cf1-cf4-cf6-given-cfx/10818 "2022-07-31T19:41:39Z")

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Hi all, So, I’ve created an HMI application for an IRB120 so that the user can input a target in the shape: X,Y,Z Ez,Ey,EX arm (left/right) elbow (up/down) wrist (flip/no flip) Given this information I can create a r…

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## [How to continuosly read robot joint configuration with PC SDK?](https://tech-community.robotics.abb.com/t/how-to-continuosly-read-robot-joint-configuration-with-pc-sdk/10624)

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**Author:** [@depa91](https://tech-community.robotics.abb.com/u/depa91)\
**Replies:** 0\
**Last updated:** [March 8, 2022, 8:29pm UTC](https://tech-community.robotics.abb.com/t/how-to-continuosly-read-robot-joint-configuration-with-pc-sdk/10624 "2022-03-08T20:29:47Z")

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I’m working on a project that requires creating a digital-twin between a robot controller and an Unity3D environment. I’m using Robot Studio as an emulation environment with a virtual IRB 2600 robot. When the virtual I…

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## [Robot Joint Configuration Collision Free](https://tech-community.robotics.abb.com/t/robot-joint-configuration-collision-free/7065)

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**Author:** [@haryprabs](https://tech-community.robotics.abb.com/u/haryprabs)\
**Replies:** 1\
**Last updated:** [March 25, 2016, 9:09am UTC](https://tech-community.robotics.abb.com/t/robot-joint-configuration-collision-free/7065 "2016-03-25T09:09:06Z")

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Dear Community, Is there any idea how to achieve robot joint configuration that will be free of collision at the target. The naive way that i think is to search all combination of 6 joint value and check whether each o…