good ... about axis number is for 2 arm robot ... not planning to partecipate to darpa race (for these year ;)) ... the pose number is more hight then world axis ... and actual axis number in g code, for 2 arm robot (18 axis) I think is quite good, because most part of work is on pose flag not in g-code world axis position .... a connection from Mxx to customkins.c I think is quite good kinematics flag selector way .... any how good trik xx yy zz as axis label.
For coordinated motion of 100 axis darpa robot humanoid, using the g-code would not be very reasonable as the robot should have a completely adaptive motion and very little repetitive behavior .... but if a creazy person would play around i think 5-10 little cpu with lcnc instance runnng and rt-ethernet bus connected may be the way. But these things seem a Marx brothers sketch. bkt 2017-06-15 20:34 GMT+02:00 Chris Albertson <albertson.ch...@gmail.com>: > You are right. It takes 12 numbers to specify the location the orientation > of two arms. But in a typical robot there will be more than 12 axis. If > you look at the stat of the art, there could be 100+ axis, see below. > > > With a typical robot the number of axis may not equal the number of degrees > used to specify the pose. For example it is common to specify an X,Y,Z > and orientation using six numbers but it very well might be there as 7 > degrees (or more) of freedom in the arm. It other words there would be an > infinite number of inverse kinematic solutions. And a controller would > choose a plan to (say) minimize angular velocity, accelerations or toque > and to avoid collisions of (say) the elbow hitting nothing while moving the > hand. Typically you need extra axis to avoid collisions and "gimbal > locks" and such. > > Machine tools are mostly very simple. We design the tool so all axis are > square so to move 1 inch in X we simply move the X motor one inch. But a > robot's axis are likely NOT square and the axis do not meet at the origen > and the angles between the axis can change. > > Here is a great video of a toy-like 18 axis machine. But the control > software is very primitive and depends on human in the loop remote control > for path planning > https://youtu.be/aH07qF_bhgA?t=9s > > MUCH more sophisticated control is used here. The machine is given only a > high level goal. "lift and cary the box" and is otherwise self directed > (notice the q-codes on the box and doors and laser scanner in the head.) > https://youtu.be/rVlhMGQgDkY?t=1m22s > > <https://youtu.be/rVlhMGQgDkY?t=1m22s> > H <https://youtu.be/rVlhMGQgDkY?t=1m22s>ow many axis are running here? > Between jack and Sophia, maybe 100+ Jack is the car, sophia is in the > passenger seat. This is the current state of the art. (Do NOT over > estimate sophia, she uses plenty of "dumb tricks" like responding with > "yes, I agree" when she has no clue what you just said) In the end this is > motion control. Many dozens of motors are running and being synchronized > https://youtu.be/vtX-qVUfCKI?t=40s > > > On Thu, Jun 15, 2017 at 9:52 AM, andy pugh <bodge...@gmail.com> wrote: > > > On 15 June 2017 at 17:36, Chris Albertson <albertson.ch...@gmail.com> > > wrote: > > > > > It depends on one's approach to a multi arm/leg robot. You can > > > treat it as two 6 DOF arms or > > > as one 12 DOF assembly. > > > > > > > I can certainly imagine a 2-arm robot using XYZ and UVW to position two > > arms. Though then you run out of orientation angles for the UVW tool. > > > > > > -- > > atp > > "A motorcycle is a bicycle with a pandemonium attachment and is designed > > for the especial use of mechanical geniuses, daredevils and lunatics." > > — George Fitch, Atlanta Constitution Newspaper, 1916 > > ------------------------------------------------------------ > > ------------------ > > 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 > > > > > > -- > > Chris Albertson > Redondo Beach, California > ------------------------------------------------------------ > ------------------ > 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 > ------------------------------------------------------------------------------ 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
