Does anyone happen to have a completed (or process to complete one) equation for forward kinematics to solve the following structure? Origin Fixed point (A) --> Joint Length (L1) --> Wrist (F) --> Elbow (B) --> Joint Length (L2) --> Wrist (G) --> Elbow (C) --> Joint Length (L3) --> Wrist (H) --> Elbow (D) --> Joint Length (L4) --> Terminus
The input parameters would be a) Fixed Lengths L1, L2, L3, L4 b) dynamic angles in degrees of Wrists F, G, H, that rotate about the joint axes c) dynamic angles in degrees of Elbows B,C,D that rotate orthogonally to the joint angles. Output solution would be geometric location of terminus in x,y,z co-ordinates relative to the Origin point (assume 0,0,0 ok) I've pushed through a lot of the DH descriptors - but to be honest, my few remaining brain cells just aren't up to the task of multiplying and transforming 6 4x4 matricies anymore (if they ever were!)- of which I probably would get it wrong a lot.... Does anyone have a method to create this layout (using one of those computer thingines....those things that are supposed to do the hard work for us?) and generate the equation set to determine the terminus X,Y,Z location? I've found a couple of simulators that are supposed to (but don't) do this. Matlab is also supposed to have an OS plugin, but it's apparently been purged from existence, and I don't have a seat of Matlab to play with, anyway. I've looked through the pumakins as well as a lot of the available (and yes, mind-numbing literature) on kins descriptors - and am still kind of lost to solve it. This is for a device similar in design to a digitizing arm that I want to eventually attach to an EMC machine - so to be honest, I'd rather spend time integrating it with EMC instead of solving the maths by hand. Opinions and Thoughts welcome! Thanks, Ted. ------------------------------------------------------------------------------ This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
