The problem to besolvedis that you need both forward and inverse kinematics.
Forward is where you have a set of joint angles and you want to know the location and orientation of the end of the arm. This is easy for most people who still remember trigonometry from high school. If not go to Khan Academy <https://www.khanacademy.org/math> And scroll down past "first-grade math" to trig and linear algebra and differential equations and sign up for whatever free classes you need. These are really good, first tier level online classes. Inverse is much harder. THis is where you have the desired position and orientation for the arm and yu want to knw the joint angles. Many times there are multiple solutions. Then, many times you want to maintain a specified velocity or acceleration and you need to know the first and second derivatives o the inverse kinematics. re-inventing this is really hard unless you are using amachinewith triveal kinematics like most machine tools. But a 6 or 7 DOF arm is non-trivial. That said, you have a textbook arm and you can find papers describing the kinematics of palletizing robot arms were someone works out the math for you. That said, I still think the world to joint space conversion and motion planning needs to be done in software that can "know" more about the world, especially about obstacles such as pats and fixtures. Arms can not move through the parts you are trying to lift, so the planner needs to know about the parts. I'd to the joint-space control in something like MK and the planning in something like Moveit. Palletizing on not unlike "pick and place" in that not every object you lift is at some exact location so moton must be planned in real-time. On Sat, Mar 23, 2019 at 4:47 AM andy pugh <[email protected]> wrote: > On Sat, 23 Mar 2019 at 00:45, yomin estiven jaramillo munera > <[email protected]> wrote: > > > > Hi chris, i would like ask you something, based on you said , I need to > > figure out how my elbow angle is moved in function to my base angle, and > > after this i will need to add this function to my kinematics file, in > that > > case i would be using the DH parameters so, i should modificate > genserkins, > > shouldn't I? > > You don't have to use DH parameters or any matrix maths if you don't want > to. > > You could just use everyday trigonometry, especially as your robot > seems to work largely in a single plane. > > -- > 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 > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > -- Chris Albertson Redondo Beach, California _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
