How to use inverseKinematics to find configuration to 1) get robot link to pass through position X1 in space and also 2) have end effector position X2?

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I have used rigidBody structures to create a robot with one end-effector.
I am trying to use inverseKinematics to find a configuration that achieves two goals:
1) The end effector must have a certain pose.
2) A certain robot link (so the link between two consecutive coordinate frames) must pass through a certain position in space.
I already know how to achieve goal 1.
I have two questions:
1) How do I achieve goal 2?
2) How would I find a configuration that combines both goals?
I would be very grateful for any help that you can offer me.

Answers (1)

Yiping Liu
Yiping Liu on 18 Jan 2021
Sounds like you are trying to solve a multi-constraint IK problem. You should check out the generalizedInverseKinematics feature in the Robotics System Toolbox.
Also take a look at the following two examples:

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