Dan, the kinematics of this robot type is quite trivial to solve, this image should help in figuring it out: http://imagebin.org/33869 The trick is in using substitution (ZR-plane) and putting the center of the world coordinate system in the rotation centers of the first and second joints.
Kinematics help: http://www.linuxcnc.org/docs/devel/html/motion_kinematics.html Example kinematic files can be found in the repository: (includes a PUMA robot) http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/ Some dimensions of the teachmover: http://www.questechzone.com/images/tmspecs.gif I should have the direct and inverse kinematic solution for that robot type somewhere, but it might be faster if you figure it out yourself. (instead of me searching for it) =) Regards, Jan ------------------------------------------------------------------------------ SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
