hi andy, how could trivkins take in count the size of my links? El jue., 21 de mar. de 2019 a la(s) 08:57, andy pugh (bodge...@gmail.com) escribió:
> 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 > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
