2011/5/13 Viesturs Lācis <[email protected]> > I was able to get genserkins to compile with my changes and move > linear joints, but I was not able to overcome 2 things: > 1) I found it impossible to allign the coordinate frame of arm with > coordinate frame of the base - when I moved the arm along X, it > _always_ had the X in the direction that was not the X of base frame > 2) there were differences in scale between joint and teleop modes - > there was very large difference in the travel distance of linear > joint, when compared if I jogged some number of units in joint mode or > in teleop mode. > I really would like to get it right, but I need some help on this one > - I have no idea, where to look. > > The kinematics for this arm are derived from scarakins. X and Y of > scarakins are Y and Z for this arm, so there was little to add - > linear joint <--> X axis is trivial and then the wrist joints, which > also were pretty simple. > > The thing that I do not like about the design of this arm is that > there is no joint, which woud rotate the wrist around the centerline > of the lower arm. The reason, why I did not put it in there, is that I > did not see a way to get it right in kinematics.
If I had a draft of what you want to get - kinematics, angles, joints etc, I'd try to figure it out. I know matrices, coordinate transformations etc. Andrew http://parallelrobots.blogspot.com/ ------------------------------------------------------------------------------ Achieve unprecedented app performance and reliability What every C/C++ and Fortran developer should know. Learn how Intel has extended the reach of its next-generation tools to help boost performance applications - inlcuding clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
