2011/12/2 andy pugh <[email protected]>: > On 2 December 2011 17:35, Francesca Sca <[email protected]> wrote: > >> Infact I don't want loose a DOF. I would like to find a solution for have in >> the joint mode both the rotation of the wirst and the up and down, setting >> in the right way stepgen and pins. There are this solution? Or I should >> create some particular components? > > I think that needs a custom HAL component, using comp. > Part of the problem is that you need to get the feedback back the other way.
Thanks, that sketch was useful, I could not picture the solution, but, when I saw it, then it was like dooh, so simple... I think I figured out the solution: For genserkins: joint 4 - wrist up/down joint 5 - wrist rotate set correct DH parameters for that to happen (disregard both motors, take into account only kinematics of arms - the joints, allignement of rotation axes of joints) Now the joint positions need to be transfered to motor positions. Make sure to match the direction of positive rotation for both motors to positive movement of up/down joint, respectively, when both are moving in positive direction, arm is going up. Motor 4 is up + rotate Motor 5 is up - rotate Or: Motor.4-cmd = joint.4-cmd + joint.5-cmd Motor.5-cmd = joint.4-cmd - joint.5-cmd To get correct feedback value, use last 2 equations and derive feedback positions: joint.4-fb = (motor.4-fb + motor.5-fb) / 2 joint.5-fb = (motor.4-fb - motor.5-fb) / 2 I think that this can easily be done with custom HAL component with 4 float inputs (for joint-cmd and motor-fb values) and 4 float outputs (for motor-cmd and joint-fb). 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 [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
