Very cool.  Thanks for the link.
John

> -----Original Message-----
> From: Chris Albertson [mailto:albertson.ch...@gmail.com]
> Sent: November-17-21 8:45 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] LinuxCNC with Robot Arm Setup
> 
> If you are taking the right approach or not depends on the tasks you want
> this robot arm to reform.  Are they entirely scripted such that you can
> write G-code to control the arm?   Or is this arm using a camera and vision
> system to pick up randomly placed objects?
> 
> If the former, LCNC will work fine and self-collision is a
> non-issue because you programmed the G-code so as not to let that happen.
> But if the arm's path through space is determined in real-time and is not
> pre-programmed, LCNC is not the best tool, and you should be looking at
> "MoveIt". https://moveit.ros.org/
> 
> But I think it is possible to build a hybrid system that uses BOTH software
> systems.  There is a part of LCNC that does motion control and has
> programmatic API and this could be used to build an arm controller.  MoveIt
> then computes a trajectory.
> 
> For LCNC experts not familiar with MoveIt...   MoveIt outputs a series of
> "target points". for each motor.  A joint has the following information
> 
>    - Time this target point shall be reached
>    - The location of the point
>    - The velocity
>    - The acceleration
> 
> Question.  Given that you have a user space process running that has that
> above information how to best pass this to LCNC so that LCNC can output the
> stepper pluses or whatever is needed to drive the hardware.
> 
> On Tue, Nov 16, 2021 at 9:12 PM Ian Charnas <ian.char...@gmail.com> wrote:
> 
> > Hi everyone. I'm new to LinuxCNC but I'm an engineer with a background in
> > software and cnc machining so I'm hoping I'll learn quickly.
> >
> > I'm interested in setting up LinuxCNC to run a robot arm. From what I can
> > tell, the wise approach is to follow this guide
> > <http://linuxcnc.org/docs/2.8/html/motion/dh-parameters.html> to setting
> > up
> > my modified DH parameters, and to use this guide
> > <http://linuxcnc.org/docs/2.8/html/gui/vismach.html> to setting up a
> > visual
> > representation of the arm - either by importing STL files or by drawing
> > graphics primitives.
> >
> > My first question: am I heading down a wise path or are there other
> > better options that I'm unaware of?
> >
> > 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?
> >
> > many thanks for any tips and advice,
> > Ian
> >
> > --
> > Ian Charnas | Engineer | iancharnas.com <http://www.iancharnas.com>
> >
> > _______________________________________________
> > Emc-users mailing list
> > Emc-users@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
> 
> 
> --
> 
> Chris Albertson
> Redondo Beach, California
> 
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> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users



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