2011/11/16 Francesca Sca <fancy_...@yahoo.it>: > > > Andrew wrote: > >>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. > > > My axis C is associated to the opening and closing of fingers. > So I should using only 5 axes for the genserkins module and exclude the > last one "C" to the kinematic trasformation? Could be correct? It is > possible using genserkins for only 5 axes? What I should change?
Genserkins will treat C as a rotary axis. It is binded into all those matrix conversions, jacobian functions and other stuff that I do not fully understand. IMHO, if You want to control the gripper, it should be anything but XYZABC. I agree with Andrew that adding U, V or W might be the way to go. On the other hand, adding that to genserkins does not seem very easy (at least for me). You could do that in HAL with limit3 component directly feeding the position to stepgen. The question is - how to tell limit3, what is requested end position, where it should go. It depends on how You intend to control the gripper - just a simple open/close operation, or do You want to control, how much it opens up. Viesturs ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity, and more. Splunk takes this data and makes sense of it. IT sense. And common sense. http://p.sf.net/sfu/splunk-novd2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
