This is "easily" handled by genserkins. genserkins = general serial kinematics (e.g. kins where each joint is serially connected to the previous one).
Take a look at the (very brief) description of how I set up genserkins for a puma560: http://juve.ro/blog/puma You would have to translate your lengths and angles to the way genserkins uses the notations. Take a look at the drawing with dimension I used: http://www.electronicsam.com/images/puma/pumaarm.jpg and the DH parameters which came out: Joint A Alpha D 0 0 0 26.45 1 0 90 -5.5 2 17 0 0 3 0 90 17.05 4 0 -90 0 5 0 90 2.2 There is a sample config called puma560 which shows this working setup with emc2. Regards, Alex PS: bear in mind that I added genserkins recently to emc2 and that it hasn't driven a physical robot yet (afaik). so there can be bugs (or dragons or whatnot). On 7/23/2010 5:36 PM, Ted Hyde wrote: > 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 > > ------------------------------------------------------------------------------ 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
