End effector of IK chain

Object

yes

Object of the IK chain, which is to move to a reference object.

Reference object

Object

yes

The target of End effector of IK chain.

Start of IK chain

Object

no

Object of the IK chain used as a starting point for inverse kinematics – Objects not included in the IK chain (from the object with the assigned behavior to the parent object of the Start of IK chain object) will ignore their Degrees of Freedom during simulation of the IK chain and remain fixed.

Locked DOF nodes

Object

no

The DOF of the selected node(s) are ignored during the IK computation.

Use orientation

Checkbox

no

Determines if the target objects orientation will be considered for calculations.

Inverse kinematics solver

Checkbox

no

A selection parameter to choose which inverse kinematics solver need to be used. The option "automatic" selects the algorithm to solve the inverse kinematics based on the robot's kinematic structure. The option "numerical" uses a numerical methodology and "analytical" uses an analytical methodology to solve the inverse kinematics.

Linear end effector motion

Checkbox

no

A decision parameter that determines whether the end effector should move linearly between each path points of the defined end effector path.

Gravity active

Checkbox

no

Determines whether the simulation will account for gravity beginning from the children of the end effector.

Speed adjustment [%]

Floating-point number

(0.01 to 100.0)

no

Percentage value to influence / limit the movement speed.

End effector speed limit [m/s]

Floating-point number

(0.0 to 100.0)

no

Value in [m/s] which limits the end effector movement speed.