On 16 April 2011 20:26, Viesturs Lācis <[email protected]> wrote:
> Finally I can report that some success has been achieved! Yes, it does seem to basically work, as far as I can see. > 2) in world mode I have 2 problems: > a) there is a 90 degree mismatch between "actual" Cartesian space > and "intended" one - "actual" X is pointing, where Y should be and Y > is pointing in -X direction. I am convinced that problem is in "bad" > alignment of joint 0 against Cartesian coordinates. So I tried > changing alpha and theta values in HAL file to get the correct > placement, but I feel like I have been able to get _all possible_ > orientations, but the correct one. I have found the same thing, and I am wondering if it is inherent in the nature of the DH parameters that they are defined relative to an arbitrary initial alignment, and that means that the first joint can not be prismatic in X. (This is just a guess) > b) I have set scale parameter for joint 0 and it is ok in joint > mode, but not ok in world mode. Basically, there is huge difference in > movement amount between joint and world modes, when movement happens > in joint 0. It makes me feel that there is something wrong in the > kinematics module. There is a spurious conversion from linear mm to radians. You need to move the joint 360mm to move Y or Z by pi mm. line 444 in genserkins looks like one likely culprit. -- atp "Torque wrenches are for the obedience of fools and the guidance of wise men" ------------------------------------------------------------------------------ Benefiting from Server Virtualization: Beyond Initial Workload Consolidation -- Increasing the use of server virtualization is a top priority.Virtualization can reduce costs, simplify management, and improve application availability and disaster protection. Learn more about boosting the value of server virtualization. http://p.sf.net/sfu/vmware-sfdev2dev _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
