I upgraded an older computer from 2.7.11 to 2.7.12 and checked the behaviour of the vismach model for pumakins. It is not correct - trajectory lines that should be straight are curved.
The reason is that the vismach model that I wrote, pumagui, is based on specific geometry and the same geometry should be set for the kins component pumakins. The values are clearly given in the commentary of the pumagui code. In order to correct this mistake, the following statements should be set in the hal file for the puma config : sim.axis.vismach.puma setp pumakins.A2 400 setp pumakins.A3 50 setp pumakins.D3 100 setp pumakins.D4 400 setp pumakins.D6 95 The hal file is puma_sim_6.hal. Alternatively the default values for these paramters must be changed, which is set somewhere. Perhaps someone can show us a way to make these parameters directly accessible in the vismach code. When these parameters are in place the pumagui, in world mode, will draw a square box in the x-y-plane with straight lines, not curved lines. Rudy du Preez ------------------------------------------------------------------------------ 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 [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
