Wrist is not spherical. What is wrong with inverse kinematic?

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東南

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Oct 20, 2021, 4:52:15 PM10/20/21
to Robotics & Machine Vision Toolboxes
I have a big problem with my 6-R industrial robot. My robot is satisfied with PIPER Rule but when I want to solve the   inverse kinematic with the function ikine6s(), the error comes out as:wrist is not spherical. Why?robot.jpgcode.jpg
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