IK Fast on ABB CRB 15000?

[HawkeyeCov]

Has anyone tried running IK Fast on the CRB 15000 model? I tried it and the solution was 90% correct, and 10% wrong. Including incorrect and incomplete IK solutions.

[gavanderhoorn]

I'm not aware of any existing IKFast plugins for this particular model.

[HawkeyeCov]

Thank you for letting me know!
I'm looking for an IK solution for this robot (it's a little messy, since there's an offset between the joint 5 and joint 6 axes).

Do you know of any implementations out there? Thanks!

[gavanderhoorn]

Do you have any special requirements? Otherwise I would suggest looking at TracIK, KDL or perhaps even BioIK.

[HawkeyeCov]

Not really, just a fast, closed-form kinematics implementation. Tried IK fast, but it had some problems...
Thanks! I'll have a look at those!