If the joint limits where being ignored then the problem would be that the joint limits were being ignored, not just "no motion".
The way I would debug this is to program one joint at a time. Get the base joint to work in world coordinates first. Figure out what happens when you give it a possible (x,y,z) location and an impossible one. Then giet the next joint going. Jumping straight to making a 6-DOFarm work is hard. Get the 1-DOF case to work My guess without looking is that the software is not finding any kinematic solutions and therefore not moving. Either that or it is finding (literally) an infinite number of solutions and then not moving. If the log files are not helping you should try adding more debug logging in the code My opinion? I'd run in joint mode and use a more sophisticated motion planner and do the planning and kinematics there and then sendd EMC commands in joint space. But maybe you have a good use case for doing this inside EMC, perhaps teleoperation where a human does the planing in real time? On Tue, Mar 12, 2019 at 9:53 AM yomin estiven jaramillo munera <yejm...@gmail.com> wrote: > > hi andy, do you believe that could be a mistake in the DH parameters? > I would like ask you, how does the genserkins define the limits of the > robot in the kinematics? i ask you that because we entered the limits for > each joint in .ini file but ¿does the genserkins take these parameters in > consideration? > > El lun., 11 de mar. de 2019 a la(s) 11:23, andy pugh (bodge...@gmail.com) > escribió: > > > On Mon, 11 Mar 2019 at 16:04, yomin estiven jaramillo munera > > <yejm...@gmail.com> wrote: > > > > > > hi guys, we entered the D-H parameters like I showed you and our problem > > in > > > this moment is that in world mode our arm is not moving but it can move > > > itself when we are working in joint mode > > > what could is our mistake? > > > > Is there any error report in dmesg? > > All I can imagine is that there might be a fault with the numbers > > giving a divide-by-zero problem. > > > > -- > > 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 > > > > > > _______________________________________________ > > 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 -- Chris Albertson Redondo Beach, California _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
