Stuart Stevenson wrote: > Gentlemen, > In studying the D-H parameter I see the use of 4 parameters. I see > genserkins http://www.linuxcnc.org/docview/html//man/man9/genserkins.9.htmlhas > only three listed. Either I don't understand how 4 becomes three or > something is not correct in the DH parameters description or genserkins. Any > clarification would be greatly appreciated. > I see that cradek answered this one, which is great because I didn't know the answer :) > Also, I saw a comment by SWP of a change made during the setup of the > robot here. Clarification here would also be met with happiness. > This change is to account for the lower arm not rotating when the upper arm moves. We just subtract (or add) the upper arm position from (to) the lower arm command to make it rotate like serial kins expects. > I only ask this as I am still uncertain of PC start success (I haven't > used the hammer yet) and think I may be facing a start over from blank hard > drive. > I am off to find a hammer. :) > Make sure to copy the data off before using said hammer :) There are USB interfaces to IDE and SATA drives, they're about $30 from NewEgg (for one with 3 connectors: 40-pin "normal" IDE, 44-pin laptop IDE, and SATA).
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