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I believe Martin's answer is correct. When I read the YouBot specs here, it explicitly lists the YouBots as 5-DOF robots. For 5-DOF robots, you don't have sufficient degrees of freedom to calculate a full XYZWPR (transform6d) IK solution. Instead, you must use one of the lower-DOF solutions, such as translationdirection5d. See these other discussions:
Even if you were to use IKFast's redundant-joint flag, this will not allow it to create a 6DOF solution for a 5DOF robot. IKFast expects you to specify an arbitrary value for the redundant joint at runtime, and will solve for the remaining joints. This allows for analytic solutions of 7DOF robots: once the redundant joint value is specified, IKFast can treat the links on either side of that joint as a single rigid link, and calculate a normal 6DOF solution for the remaining 6 joints. This means that if you have a 6DOF robot with one redundant ("free") joint, then IKFast is still trying to calculate a 5DOF solution once you have specified the (arbitrary) value for the redundant joint.
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