Hi Andy! On 11/18/2013 04:24 PM, andy pugh wrote: > On 18 November 2013 14:43, Philipp Burch <[email protected]> wrote: >> In fact, this is what I've done already. I made a new kins module (named >> tfkins), to which I can pass the nine elements of the transform matrix >> at module load time. It is in use for the mentioned machine with the >> misaligned joints. This works without question, but it's a rather ugly >> hack. Partly because it's a misuse of the kins > > I am not sure it is a misuse of the kinematics. I think it is exactly > the sort of things that kinematics is useful for, transforming joint > positions to work positions. > You might want to consider rate-limiting the changes in the matrix > values, to avoid steps. >
In my opinion, kins should be used to tell the software about how the machine hardware works, not about the workpiece. You wouldn't move the workpiece origin to the machine origin using those transforms, right? So I would need to adjust the kins for the slight angular and scaling differences and on top of that move the coordinate system to get the origin right. That's possible of course, but it's ugly and error-prone. Regards, Philipp ------------------------------------------------------------------------------ DreamFactory - Open Source REST & JSON Services for HTML5 & Native Apps OAuth, Users, Roles, SQL, NoSQL, BLOB Storage and External API Access Free app hosting. Or install the open source package on any LAMP server. Sign up and see examples for AngularJS, jQuery, Sencha Touch and Native! http://pubads.g.doubleclick.net/gampad/clk?id=63469471&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
