Ik solver for 7 DOF

[paul218]

Hello,
I am using the library for get the inverse kinematics of a 7DOF robot (Kassow KR1805)

I create the robot using its DH parameters

qlim_1 = np.array([-2*pi, 2*pi]) #1, 3, 5, 6, 7 qlim_2 = np.array([-1.22173, pi]) # 2, 4 Kassow_KR810_base = DHRobot( [ #RevoluteDH(d=0.3571, a=0, alpha=0, qlim = [0,0]), #0 RevoluteDH(d=0.3571, a=0.062, alpha=-pi/2, qlim = qlim_1, ), #1 RevoluteDH(d=0.1052, a=-0.062, alpha=pi/2, qlim = qlim_2, ), #2 RevoluteDH(d=0.9225, a=0.05, alpha=-pi/2, qlim = qlim_1, ), #3 RevoluteDH(d=-0.0857, a=-0.05, alpha=pi/2, qlim = qlim_2, ), #4 RevoluteDH(d=0.8775, a=0, alpha=-pi/2, qlim = qlim_1), #5 RevoluteDH(d=0.111, a=0, alpha=pi/2, qlim = qlim_1), #6 RevoluteDH(d=0.108, a=0, alpha=0, qlim = qlim_1) #7 ], name="Kassow_KR810") Kassow_KR810_base

I use the next inverse kinematic method.

`
q0 = robot_base.random_q()

sol = robot_base.ikine_LM(tool_base_wrist, q0=q0, joint_limits=True)
`

But the algorithm can not found the solutions.
I tested the position using roboDk software and the robot can reach the position.
position = [1616.370,114.284,-245.724,-170.9,6,-150 ]

I also checked if the DH model robot could reach the joint torques, and it works.

But the Ik_solver can not find the positions.

Could you suggest me some Ik_solver parameters to set up it, and calculate the joints torques?

Thanks in advance for your help.