Andy pugh wrote:
>What I was suggesting was adding:
>world->u = joint[6];
>world->v = joint[7];
>world->w = joint[8];
>In the forward kins, and
>joint[6] = world->u;
>joint[7] = world->v;
>joint[8] = world->w;
>In the inverse kins. and then controlling the gripper with U, V or W
>in the G-code and linking that motor to axis.{6/7/8}.motor-pos-cmd in
>the HAL.
>I don't know for sure that this would work, and it means that you cant
>have a robot with more than 6 "elbows"
I tried to do how you have suggest me but when i recompiled genserkins.c many
errors appear! I read that maybe the command "sudo comp --install genserkins.c"
could be incorrect. I should rebuilt with "make" command. This is correct? you
can me explain the complete command that I should use?
I have another problem with axis and joints. In the puma configuration the
wirst can rotate and go up and down. Two different motor (for example A and B)
realize these movements. In my robot also the wirst can rotate and go up and
down but the motor A realizes the rotation of wirst; A and B together realize
the up and down. There is a way for change genserkins and consider this
difference?
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