What LCNC lacks is high-level motion planning. LCNC's version of motion planning is means planing the speed of all the axis and keeping them coordinated so that the end effector(cutting tool) traces the specified path. What LCNC does not do is design the path. For example if the dripper is holding a metal pipe, LCNC will not be able to figure out it needs to rotet the pipr to a vertical position to avoid colidingwith some object. LCNC will but be able to figure out that it needs to rotate the hand so the fingers are parallel to the object that is to be grapsed. In the machine tool universe allthis is left towhat they call "CAM" software.
In short CAM (or a human programmer) figures out the tool path and then CNC causes the motors to follow to prescribed path. In a hybrid system MoveIt would figure out the arm needs to reacharound the pickle jar in the 'fridge" to get your beer andthat the fingers need to gobehind thebeer and the thumb in front and the line from finger to thumb passing through the beer bottle. LCNC could be used to translate all those real-work velocities to stepper motor pulses. That said, many industrial robots run a fixed-preprogrammed path and are nothing more than a 6 axis machine tools running a program written in G-code. LCNC is a perfect fit to that. But LCNC would be of no help if the job is to grab the beer in the fridge and plan a motion path to extract to bottle without knocking over other objects. On Wed, Nov 17, 2021 at 2:13 AM andy pugh <bodge...@gmail.com> wrote: > 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 > -- Chris Albertson Redondo Beach, California _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
