2011/11/16 Francesca Sca <fancy_...@yahoo.it> > I solved the problem with the world mode when I'm using genserkins module. > The main problems were the latency of my computer and some home setting > wrong. But now I have another problem. I have set the D-H parameters of my > robot but unlike Puma my robot has a hand and a stepper motor that controls > the opening and closing of the fingers. Using the inverse kinematics I > can't to control the opening and closing of fingers. How can I do this? any > suggestions?
If you want to completely control the fingers angle, you can assign another axis for them. It might be W if you already have XYZABC. I guess, you should add the axis to your HAL file and genserkins. It requires no kinematic transformation, just add the direct connection. Andrew ------------------------------------------------------------------------------ RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
