Forums Technical Discussion Unstable Full Body IK with joint limits in KineFX

Unstable Full Body IK with joint limits in KineFX

   978   1   1
User Avatar
axelschoterman
Member
8 posts
Joined: June 2018
Offline
 
I'm trying to setup a basic robot arm with a Fullbody IK solver. Once I add joint limits (for example limiting some joints to a single rotation axis) it becomes unstable and starts flipping/glitching. I played with the iteration/dampening settings which helps a little, but it never actually becomes stable. What am I doing wrong, or how can I best solve it?

I added a simplified file below. Any learning resources for using KineFX in mechanical setups would also be welcome, there seems to be really little of it!
Edited by axelschoterman - Oct. 10, 2022 05:29:27

Attachments:
KineFX_JointFlipping.hiplc (338.3 KB)
ASmkopNCgU.mp4 (2.3 MB)
ezgif-5-486300bef3.gif (436.7 KB)

 Report
User Avatar
cwhite
Staff
733 posts
Joined: Oct. 2012
Offline
 
When the rotation limits are zero for an axis, it's generally better to use the Rotation Weights parameter to disable the axis entirely, rather than using rotation limits (see attached)

Attachments:
KineFX_JointFlipping_v2.hiplc (338.9 KB)

 Report
  • Quick Links