{"repo":"mazeasdamien/Inverse-Kinematics-Universal-Robot-Unity","free":true,"listed":false,"github":"https://github.com/mazeasdamien/Inverse-Kinematics-Universal-Robot-Unity","clone":"git clone https://github.com/mazeasdamien/Inverse-Kinematics-Universal-Robot-Unity.git","description":"Inverse Kinematics for UR16e Robot in unity","language":"C#","stars":43,"topics":["kinematics","robotics","unity","ur16e","robots","universal"],"license":"MIT","category":"game-templates","readme_excerpt":"Inverse Kinematics for the UR16e in Unity Analytic (closed-form) inverse kinematics for the Universal Robots UR16e, following the standard UR solution (Hawkins 2013, Analytic Inverse Kinematics for the Universal Robots UR-5/UR-10 Arms ). Move the IK target and the arm follows it, choosing among the up-to-8 joint configurations that reach the same flange pose. Usage In the editor — open Assets/Scenes/main.unity and drag the IK- MOVE THIS GAMEOBJECT transform. The arm re-solves as you move it, in edit mode as well as in play mode. The inspector on UR 16e lists the eight analytic branches with their joint angles, marks the ones that are unreachable for the current target, and lets you apply any valid branch with one click. Set Selection Mode to ClosestToCurrent to always follow the branch nearest to the current joints, which avoids configuration jumps as the target moves. In play mode — the IKTargetController on the Main Camera adds runtime control: Input Action --- --- Drag the handle move the target in the camera plane Scroll push the target towards or away from the camera Q / E , Z / C yaw / pitch the flange 1 – 8 , PageUp / PageDown pick a solution branch Space toggle manual vs closest-to-current selection O demo orbit — the target sweeps the workspace on its own R / H reset the target / hide the legend The eight solutions A 6-axis UR arm reaches almost every pose in eight distinct ways: shoulder left or right, wrist flipped or not, elbow up or down. Green is the applied con","default_branch":null,"files":null,"tree":[],"storefront":"/r/mazeasdamien","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/mazeasdamien/Inverse-Kinematics-Universal-Robot-Unity/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}