On Wed, 17 Nov 2021 at 05:12, Ian Charnas <ian.char...@gmail.com> wrote:
> My first question: am I heading down a wise path or are there other > better options that I'm unaware of? I think that is a reasonable approach. You might want to think about whether you want to use genserkins or pumpkins, or some other option. Genserkins is very general and mathematical, but might not always find a solution because of that. Pumakins is only for Puma style robots, and might work better (or worse...) Experiment with the two simulator configs included with LinuxCNC. See which you find easiest to break. (sim/axis/vismach/puma) From the Readme: "puma_cube.ini -- Config file for a PUMA type robot using the puma-specific kinematics module pumakins. This configuration provides a startup gcode file ([DISPLAY]OPEN)FILE) that sets usable coordinate offsets to trace a cube outline. Velocity, acceleration and positional limits are set large for convenience and are not representative of a real machine. puma.ini -- Config file for a PUMA type robot using the puma-specific kinematics module pumakins ($ man pumakins). Positional limits are not enforced. System coordinate offsets need to be set by user. puma560.ini -- Config file for a PUMA 560 type robot using the generalized serial kinematics of the genserkins module ($ man genserkins). Genserkins uses an interactive solution for inverse kinematics and may require that [JOINT_n]HOME locations are consistent with [TRAJ]HOME settings." > My second question: Can LinuxCNC prevent the robot arm from crashing into > itself, and if so how does it know when a crash would occur? Does it use > the geometry of each link that I provide in vismach? Unfortunately LinuxCNC does not know how to prevent a robot from colliding with itself. The Vismach representation is purely a one-way display. It's an interesting thought, though, that perhaps there is capability in the OpenGL libraries used to perform collision detection during the preview phase. -- 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, 1912 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
