On 11/5/13 14:24 , Marius Alksnys wrote: > I am retrofitting old 6 axis robot with new electronics and LinuxCNC. > My current progress is quite successful - it works in world mode using > genserkins. But there are a lot of things to improve. > > My question: what is the best way reached with LinuxCNC to control > similar robot? > > I think, main points are: > 1. Kinematics module. Does pumakins has more good features than > genserkins? As rotation axis of 2nd axis is offset from rotation axis of > 1st axis, There is no parameter to describe this. > 2. Jerk limitation or S-curved velocity profile or NURBS. I think it is > a must if you want to get better performance with the robot. > 3. Better out-of-range avoidance. When jogging out of reach now with > genserkins, it throws joint following error, then I have to enter joint > mode, turn-on, and then try to enter world mode. > 4. World feedrate limitation based on joint velocity, acceleration limits. > > What progress araisrobo made in this field? Can I use it? What is its > development status now?
What branch are you using? I believe the joints_axes4 branch may have some of these issues fixed. -- Sebastian Kuzminsky ------------------------------------------------------------------------------ November Webinars for C, C++, Fortran Developers Accelerate application performance with scalable programming models. Explore techniques for threading, error checking, porting, and tuning. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
