thanks chris, could you tell me how i can enter my D-H parameters and n which file (my .hal, genserkins, or puma kins) we are working with a miller robotic arm with the following specifications.
we have taken the units in mm and we extracted this D-H parameters: link a d alpha L1 150 300 90 L2 500 0 0 L3 250 100 90 L4 450 0 0 L5 100 0 0 where L0 is 0, so we need to know where and how can we enter this paramerts for set up our kinematics, In this moment our robot can move in joint mode well, but in world mode we have many problems cause the software is having some errors of following. El mar., 5 de mar. de 2019 a la(s) 17:40, Chris Albertson ( albertson.ch...@gmail.com) escribió: > The first question to ask yourself is "How are the g-code created?" This > will determine what happens with EMC. > > So if the units in the g-code are mm then the units in EMC are mm (or CM or > inches) Yes you can convert but if you get to pick what to use, make it > all the same. But maybe the g-code file has angles? If so then > your kinematics the totally different. It is reasonable to work in "joint > space" and in fact, this is what "trivial kinematics" does. > > You the user gets to decide how you want to do this. The robot arm can be > commanded to work in joint-angle space but then the kinematics must be > calculated by whatever software created the g-code files. g-code and work > in angles or linear units. there is some advantage to doing angles if > perhaps the arm has many degrees of freedom. > > Arms can be complex and they can have collision problems especially if they > are moving large objects. You would not want the collision calculation > hardcoded if the arm is able to pick up a range of different objects. DO > you have a car windshield on the end of the arm or a small part like a > screw? Either way, you have to not smash the part as it is being moved. > Where is the "not smash" calculation done? You get to choose. > > But on the other hand, placing all the kinematic calculation inside the > controller makes writing the g-code easy. The problem is with high-DOF > arms where the kinematic solution is infinite. Perhaps to place an object > held by an end effector into a hole the arm's "elbow" can be in any place > in a circle in 3-space and still get the location specified on the g-code. > How to decide which of the infinite elbow locations is best -- maybe one > location places the elbow three inches inside a fixture? The planner can't > address this unless it knows where the fixtures are. > > But on the other hand, a 4-DOF palletizing robot does not have multiple > kinematic solutions. > > So, the answer about units and kinematics depends on the overall big > picture and other software you might be using. > > If you think arms are a complex problem, as I type I'm working on a robot > that works in human-occupied space. the "fixtures" to be avoided move in > real time and the planner needs to re-plan continuously. > > > On Tue, Mar 5, 2019 at 12:34 PM yomin estiven jaramillo munera < > yejm...@gmail.com> wrote: > > > hi emc users, I request your help for my kinematic setup > > we have tried to set up our arm robot which is very similar to Puma 560 > > Our problem is we extracted the D-H parameters but we don´t know how > this > > parameters could be entering and what is the correct file. > > When we use pumakins only can define the following parameters. > > > > #setp pumakins.A2 > > #setp pumakins.A3 > > #setp pumakins.D3 > > #setp pumakins.D4 > > #setp pumakins.D6 > > > > But we need to define the others like in genserkins.¿Should we use > > genserkins? > > > > another thing is when we do changes in genserkins.h file for entering the > > values of D-H parameters, we are denting the file when we compile. > > so, how can we enter those values to genserkins? is it only to remplace > or > > there is some else? > > > > We saw one .hal file where the parameters were uploading there like this: > > > > loadusr -W pumagui > > > > setp genserkins.A-0 0 > > setp genserkins.A-1 0 > > setp genserkins.A-2 7.47 > > setp genserkins.A-3 0 > > setp genserkins.A-4 0 > > setp genserkins.A-5 0 > > > > setp genserkins.ALPHA-0 0 > > setp genserkins.ALPHA-1 1.570796326 > > setp genserkins.ALPHA-2 0 > > setp genserkins.ALPHA-3 1.570796326 > > setp genserkins.ALPHA-4 -1.570796326 > > setp genserkins.ALPHA-5 1.570796326 > > > > setp genserkins.D-0 9.38 > > setp genserkins.D-1 0 > > setp genserkins.D-2 0 > > setp genserkins.D-3 7.47 > > setp genserkins.D-4 0 > > setp genserkins.D-5 0.8 > > > > loadrt scale count=6 > > > > addf scale.0 servo-thread > > addf scale.1 servo-thread > > addf scale.2 servo-thread > > addf scale.3 servo-thread > > addf scale.4 servo-thread > > addf scale.5 servo-thread > > > > linksp xpos-cmd scale.0.in > > linksp ypos-cmd scale.1.in > > linksp zpos-cmd scale.2.in > > linksp apos-cmd scale.3.in > > linksp bpos-cmd scale.4.in > > linksp cpos-cmd scale.5.in > > > > setp scale.0.gain 1 > > setp scale.1.gain 1 > > setp scale.2.gain 1 > > setp scale.3.gain 1 > > setp scale.4.gain 1 > > setp scale.5.gain 1 > > > > net J0scaled scale.0.out pumagui.joint4 > > net J1scaled scale.1.out pumagui.joint3 > > net J2scaled scale.2.out pumagui.joint6 > > net J3scaled scale.3.out pumagui.joint1 > > net J4scaled scale.4.out pumagui.joint2 > > net J5scaled scale.5.out pumagui.joint5 > > > > #net j0 axis.0.joint-pos-fb pumagui.joint4 > > #net j1 axis.1.joint-pos-fb pumagui.joint3 > > #net j2 axis.2.joint-pos-fb pumagui.joint6 > > #net j3 axis.3.joint-pos-fb pumagui.joint1 > > #net j4 axis.4.joint-pos-fb pumagui.joint2 > > #net j5 axis.5.joint-pos-fb pumagui.joint5 > > #net j6 axis.6.joint-pos-fb pumagui.grip > > > > i would like to know what the units for those parameters are? mm? in? cm? > > an for alfa? > > > > thank you > > I hope your anwers > > > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > -- > > Chris Albertson > Redondo Beach, California > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
