On Thu, 21 Mar 2019 at 13:45, yomin estiven jaramillo munera <yejm...@gmail.com> wrote:
> I'm saying this 'cause our robot is a miller MR 2000 and is very old, it > is moving how you can see in the follow link You are right, that isn't a "pure" serial robot so Genserkins is probably not a good choice. You could potentially add and subtract motor positions in HAL to make it work, but it is likely to be easier to write a custom kinematics from scratch. The robot seems to be geometrically fairly simple, being largely all in one plane. Look at the old version of trivkins to see how simple a kinematics file can be: https://github.com/LinuxCNC/linuxcnc/blob/2.6/src/emc/kinematics/trivkins.c Just two functions, one to calculate joint positions from world coordinates and one to do the reverse (everything after line 67 there is the same in all kins files, unless they need pins, paramters etc) -- 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
