As an example look at the two articles in December and February Circuit Cellar Magazine by Raul Alverez-Torrico on building a 4-DOF robotic arm. https://circuitcellar.com/ He uses Matlab to do the kinematics (described in the Feb issue) but uses his own serial protocol for moving each motor through an angle. (Figure 1)
He uses Matlab to do the kinematics (described in the Feb issue) but uses his own serial protocol for moving each motor through an angle. Figure 5. It could just as easily have been G-Code. Or he could have used a program to interpret his special commands and translate them into G-Code and then run an arm via LinuxCNC. The point is that he's using a small UNO for the embedded controller and a PC for the trajectory planning. John Dammeyer > > For Machine control we have: > CAD -> CAM -> G-Code -> Trajectory Planning and implementation -> > Ethernet OR Parallel Port OR PCI bus -> Step/Dir OR Smart Serial OR CAN bus > or Ethernet. -> Hardware motion. > > Ask then which parts require a large PC with graphical interface? Which > require pseudo real time? Which require hard real time? > > At the moment a PC compatible with a parallel port can do it all. Up to the > latency measurement and then it can't reliably create the high speed > stepping pulses. The OS is not important. LinuxCNC or MACH3 on WIN-XP/7. > On both systems the CAD->CAM can also be hosted although it appears most > LinuxCNC people still tend to use Windows for the CAD side. > > Now exceed the capabilities of the PC compatible and you are into the > netherworld of FPGA/RealTimeProcessors to do the next step. And those > aren't all public domain and certainly, like a PC wth a parallel port, totally > interchangeable. > > My two cents. > John Dammeyer > > > > > _______________________________________________ > Emc-users mailing list > <mailto:Emc-users@lists.sourceforge.net> Emc-users@lists.sourceforge.net > <https://lists.sourceforge.net/lists/listinfo/emc-users> > https://lists.sourceforge.net/lists/listinfo/emc-users
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