Inverse Kinematics

You can use the Inverse Kinematics command to automatically create position actuators and motion controls using target positions as the driving parameters. You must define the initial reference point and orientation of a rigid body, and then define the target positions.

For example, you can create a point at a tool tip, and then create target points in the coordinate system through which the tool tip passes.

Modes

You can use the following modes to establish how the rigid body's destinations and kinematics are defined:

• Offline — Lets you define target positions, and automatically adds position controls and operations in the Sequence Editor to define the motion sequences needed to reach the target positions.

  Note: If you use inverse kinematics motion for an assembly consisting of a six-axis robot defined by hinge joints, you can select a motion type between poses and a path from a list of possible solutions to create a suitable motion path.

  You can preview a pose to view its general position and accessibility status, and drag a selected pose's coordinate system (CSYS) handle to dynamically preview its motion.

  After the poses are defined, you can exchange the following inverse kinematics pose data with external software in a .csv file:

  • Pose names
  • Motion type
  • Position and Euler angles of poses
  • Motor position values for the operations controlling the motors
  • Start time of the pose operation

• Online — Disregards the operations in the Sequence Editor, and lets you connect signals and runtime expressions to runtime parameters to define the rigid body's destination and orientation throughout the simulation.

  Before you run the simulation, you can configure the inverse kinematics to:

  • Avoid collisions between the selected rigid body and other geometry in the assembly.
  • Trace the path of the selected rigid body so you can save and export the path.
  • Generate an independent operation (per the documented workflow; see the full dialog help for further detail not captured in this excerpt).

Learn more

Related actuator topics in this section:

• Adding abstract actuators
• Position Control
• Speed Control
• Hydraulic Actuator
• Pneumatic Actuator

Quick links

• Introduction to Mechatronics Concept Designer
• Mechatronics Concept Designer Preferences
• Browse NX help by product area

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Inverse Kinematics, NX 2212 Series — © Siemens (Note: page content was truncated mid-section by a page navigation event during retrieval; the final portion of the "Online" mode bullet list was not fully captured. Re-visit the source URL for the complete list if needed.)