I use the delta robot modifyed kins .... no possibility to have external jog
wheel in world mode ..... ok so i think from kinematics to overwrite the value
of selected world axis + encoder value (on certain condition: is-teleop
is-manual is-on is-enable no-limits) directly from kinematics to pos.N .... the
best way to do this?
Actually simply in foward kins add the value in this way emecpos = tran.N +
encoder-value ..... but when go out to teleop or jog mode the axis jump to
original tran.N so I would overwrite actual tran.N adding delta.encoder-value
(encoder-value.time0 - encoder-value.time1).
Is possible to do? Is possible to do in other way? (i'm not an expert around
list ..... ask your suggest)...
in me case the machine (delta robot) have hardware limit directly on servo
..... no possibility of crash!!
regards
giorgio
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