2017-03-02 21:47 GMT+02:00 Charles Steinkuehler: > Thanks for the hints, it would have taken me quite a while to figure > all that out. Now I'll start plugging in numbers and toggling between > world and joint coordinates to see what's happening. >
Well, I think I missed the fact that genser_kin_jac_fwd is also build using similar method: go_link_joint_set and then compute_jfwd That means if the correct forward kins is built the inverse still won't work until the jacobian is tweaked too. There's a workaround though: I used plain derivatives to calculate jacobian for pentapod kinematics where I could not find the correct symbolic form. ...maybe I'll even get brave and try to build the command-line version > of genserkins to assist with debugging! :) > That would be nice! I suspect they might have debugged genserkins too https://github.com/LinuxCNC/linuxcnc/blob/af15a4d90e1d51d5309db65fe1c9511e486df411/src/emc/kinematics/genserkins.c#L678 Genhexkins also had similar old code (until I cleaned it). Best regards, Andrew ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
