> ikfast got my attention recently and I looked for someone who could help > me make custom kinematics for 6 axis articulated robot. Can I ask you to > help find the way to do it with ikfast?
It was your discussion that got me interested in ikfast. I don't think it is going to be simple. I've got a small 4DoF arm. I managed to get the Translate3D iktype working in simulation mode. Getting it to work in realtime mode is probably going to require rewriting the generated ikfast C++ module into C as Michael suggested. After I got the Translate3D working, I tried TranslationXAxisAngle4D. This is failing, I think because it allocates an array of double[24][24][23] (106k) plus another couple of huge arrays defined on the stack. I get a compiler warning... warning: the frame size of 117088 bytes is larger than 2560 bytes [-Wframe-larger-than=] which I think is corrupting the stack. I don't know where this 2560 limit is defined. I did manage to get it working by changing the code and making the large arrays static, but it's not the right way to do it. Frank ------------------------------------------------------------------------------ November Webinars for C, C++, Fortran Developers Accelerate application performance with scalable programming models. Explore techniques for threading, error checking, porting, and tuning. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
