https://www.youtube.com/watch?v=-7xvqQeoA8c
these is the best (definitely better than HONDA Asimo) .... It's a shame that google has sold boston dynamics .... hope for better robot project (maybe a robot D-wave driven over QUIC or better wifi bus ???...... ) bkt 2017-06-15 23:34 GMT+02:00 theman whosoldtheworld <bleachk...@gmail.com>: > 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
