Hi, > Then that is exactly what your kinematics code will need to do - > subtract the movement of q2 from q3, q4, and q5 (possibly multiplied by > some scale factor if the mechanism isn't 1:1).
I think they are 1 to 1 in degrees. I understand why they built it this way. Simple and cheap, and all the motors are in the base rather than out in the arm. I think the original training mode was point to point. Move all the joints individually to here, memorize this position, move all the joints individually to there, etc. > It requires programming, but not terribly complex programming. There > isn't any existing kinematics module that does this, but if I were you I > would start with a renamed copy of the puma kins, study it till I > understand it, then add whatever extra math is needed. Then I guess I will embark on my first C programming project ever over the Xmas break! Thanks John and Jan. Dan ------------------------------------------------------------------------------ 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
