IK Management

When using a 6 axis robot to reach a certain position and orientation, multiple solutions are possible. They are called IK solutions (Inverse Kinematics) and determine different positions of the robot arm that have the same Cartesian position and orientation of the TCP.

You can switch between them by Right clicking the virtual robot and then selecting one of the accessible IK solution.

Here, the 4 positions of the robot are all corresponding to the same cartesian position of the Flange of the robot.