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You're not going to get a parent-child relationship with this because it's not a kinematic tree. You've got a four-bar linkage, which is closed chain linkage. The angle that Link 2 makes with Link 1 depends on the angle at AxisX1 AND the distance from AxisX1 to AxisX3 AND the length of bar1 AND the length of link1 AND the distance from Axis4 to AxisX7.


The short answer is yes, it is possible. The long answer is: The all xyz coordinates have to be inside workspace boundaries of the robot Solving IK for 7 DOF is a bit harder then any other non redundant structure, you need an additional equation. If you are using an industrial robot arm, with its own programming language, you have to find out how to get a &...


By imposing that the position of the end-effector $\mathbf{x} \in \mathbb{R}^3$ has to remain fixed, you're actually limiting your IK that, as a result, might struggle to achieve the task of aligning the vector $\mathbf{z} \in \mathbb{R}^3$ to point toward the target $\mathbf{p} \in \mathbb{R}^3$ when, for instance, one of the joints $\mathbf{q} \in \mathbb{...

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