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 > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users
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