On 15 December 2010 09:19, dambacher-retrofit.de
<[email protected]> wrote:
> Or for a 3axis-mill it would be calculating the hight between tool tip and
> table
> top. Yes, 6axis get more complicated, but it's basically getting the distance
> of
> a point above a plane.
For a specific machine you could do this in a custom kinematics
module. This is a fairly easy place to add custom code, and it "knows"
all the axis and actuator positions too. You can easily add the
required HAL pins there too.
If you were feeling very keen, you could make a generic
"intereferencekins" module which had a means of reading in complex
effector and frame geometry and performing collision calculations.
(Thinking aloud) A simple poly-triangle mesh defining the geometry of
each moving part and a definition of the origin of the solid relative
to the axes would allow collision detection ("is this node inside the
volume defined by any of the other solids" is a fairly simple
calculation, I believe)
> the problem is that the emc code base is too fixed on 6 axis milling with 3
> supports.
The 6-axis issue is largely a G-code limitation. There is a branch of
the source which will break the hard correspondence between axes and
joints/actuators. I suspect that it would be relatively
straightforward, if not easy, to use an entirely different
motion-control language with support for many more axes by using a
different interpreter.
--
atp
"Torque wrenches are for the obedience of fools and the guidance of wise men"
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