> Re: [Emc-users] PUMA reverse kinematics > From: Alex Joni <[EMAIL PROTECTED]> - 2007-08-11 19:56 > > > I was able to build the CVS trunk version of EMC as you > suggested, after > > installing a few missing ubuntu development tools. The EMC trunk > demo of > > the PUMA robot starts up, and displays a static image of the PUMA > in a > > TK window. The puma.ini file is looking for > > gamepad.hal > > which I can't find in the EMC trunk components. Commenting that > line out > > does not help. What is in gamepad.hal? > > My bad.. the gamepad.hal is something I forgot there. > There was also another small problem, but it should run now. > > Regards, > Alex
The PUMA demo now works as advertised, and its very pretty. Thanks so much for looking at this. I will try to tweak it to describe the machine I have here. A follow-on question - why in EMC do you put reverse kinematics into the real time loop? It must burden the code with extra computational overhead and reduce the maximum speed from what it would be if trivial kinematics "trivkins" were used. Before learning about this PUMA example, I had started to write a "translator" that would apply the reverse kinematics to the G-code data, before EMC ever saw it. Are there some subtle reasons, like homing, or backlash, that require the reverse kinematics to be implemented in EMC, rather than in front of it? Chris Purcell ------------------------------------------------------------------------- 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
