On Sun, May 11, 2014 at 07:57:26PM -0500, David Raila wrote: > > > > How does one make a kinematics error do something reasonable, like > report an error and stop motion? > > It appears that the return values from the Fwd/Inv kinematics calls are > ignored, at least from my reading of control.c and command.c.
This is improved in the joints_axes4 branch, which I hope (hope hope) will get merged before 2.7 - see 419c10937 If you're working with nontrivial kinematics it would be great if you would help test this branch. It works a LOT better. > Perhaps related, is that my machine has complex kinematics and the JOINT > spec's don't map linearly, but it seems the TRAJ spec's > for MIN_LIMIT and MAX_LIMIT are meant for linear axes, so I have had to > specify them in the XYZ axis coordinates which are not > truly the joint min and max. Apologies if this is not clear. I think I understand what you are saying. Since the planning is all done in the cartesian (world) space, you need to set your axis limits so they form a world volume that contains only valid corresponding joint positions. This means the world volume is a rectangular solid - no other shapes are possible right now. Chris ------------------------------------------------------------------------------ "Accelerate Dev Cycles with Automated Cross-Browser Testing - For FREE Instantly run your Selenium tests across 300+ browser/OS combos. Get unparalleled scalability from the best Selenium testing platform available Simple to use. Nothing to install. Get started now for free." http://p.sf.net/sfu/SauceLabs _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
