On Fri, Aug 03, 2007 at 10:32:21PM -0300, christopherpurcell wrote: > I have a prototype puma robot in my living room, mostly to amaze > visiting teenagers who think they have seen it all. It makes scary > noises and moves nicely with EMC2 but now I am ready for some PUMA > reverse kinematics so I can put this work. Has anyone done this already? > The EMC2 docs mention PUMA robots but I have not found any > ready to use examples of configuration files. The PUMA > OPENGL simulation from > http://jmkasunich.dyndns.org/cgi-bin/blosxom/software/simulated-machine-02-04-07.html > is mesmerizing but it seems to have just the forward kinematics in its > code. > --
That PUMA demo is hooked up to EMC, you can get the CVS trunk version and run the included puma configuration. The kinematics (forward and inverse) are http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/pumakins.c?rev=1.4 I'm not sure how well they are working right now, let us know what you find. Chris ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
