I don't remember pretty well. But may be world 0,0,0,0,... must be coincident too with joint 0,0,0,0,... Must be some message from me in the emc-users list.
I found at least this (may be there are some more) http://www.mail-archive.com/[email protected]/msg03496.html Read at " Nevertheless I think i not our case: When into to the emc interface, joints and pos gets initializated to 0,0,0,0,0,0, and we have ajusted our kinematics for it to be a solution, so as newton raphson iteration converges to the closest solution, and provides that while the systems moves previous solution is close to the next one, is almost imposible to have such a problem. " So we use matching direct and inverse kinematics and we make that 00000 in joints corresponds to 00000 in world. I think this is a limitation, because the way the initialization is done right now. Is difficult to find a different solution to this, because if you don't have absolute encoders you don't know where you are, until you do a homing, kinematics is not going to be useful before that point. If the kinematics is used from the same beginning /what I presume) ini file should have en entry to deal with the initial value of joints and world coordinates, so that they are coherent with those of the inverse kinematic model, the only one strictly needed to operate the machine. Another possible way to overcome this would be to use kinematics module to initialise joint positions from world coordinates, or the inverse, and let the ini file to initialize world or joint. Obviously the last suggestion is only possible if the inverse model is present in the kinematics module. Cheers, Javier And for sure can be foun some otrhe On Fri, Jan 20, 2012 at 7:10 PM, Javier Ros <[email protected]> wrote: > > I had a similar problem with a hexapod type machine, and the problem was > precisely what Alex is suggesting. > > Good luck, > > Javier > > On Fri, Jan 20, 2012 at 5:01 PM, Alex Joni <[email protected]> wrote: >> >> My guess is that you don't have matching kins. Try calculating world >> position from joints 0,0,0,0,0,0 (manually) >> Then calculate it the other way around and see if you get the initial value. >> >> Regards, >> Alez >> -- >> Sent from my Android phone with K-9 Mail. Please excuse my brevity. >> >> andy pugh <[email protected]> wrote: >>> >>> On 20 January 2012 11:29, Francesca Sca <[email protected]> wrote: >>> >>> >>> > Which could be the problem? I think that it may be a conflict between home >>> > and inverse kinematics. >>> >>> That was a red-herring. Apparently the kinematicsHome subroutine is >>> never used, so it can't be that. >>> >>> >>> -- >>> atp >>> The idea that there is no such thing as objective truth is, quite simply, >>> wrong. >>> >>> ________________________________ >>> >>> Keep Your Developer Skills Current with LearnDevNow! >>> The most comprehensive online learning library for Microsoft developers >>> >>> is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, >>> Metro Style Apps, more. Free future releases when you subscribe now! >>> http://p.sf.net/sfu/learndevnow-d2d >>> >>> ________________________________ >>> >>> Emc-developers mailing list >>> [email protected] >>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>> >> >> ------------------------------------------------------------------------------ >> >> Keep Your Developer Skills Current with LearnDevNow! >> The most comprehensive online learning library for Microsoft developers >> is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, >> Metro Style Apps, more. Free future releases when you subscribe now! >> http://p.sf.net/sfu/learndevnow-d2d >> _______________________________________________ >> >> Emc-developers mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/emc-developers >> > ------------------------------------------------------------------------------ Keep Your Developer Skills Current with LearnDevNow! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-d2d _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
