Check your CPU load and the time spent in each HAL module (it shows up as a HAL signal). I'm not sure the BBB has enough FPU performance to handle some of the non-trivial kinematics setups. You may need to craft a higher performance solution based on your specific machine or migrate to a more powerful platform (X15 or maybe an x86).
All the work I've done with "serious" non-trivial kinematics (ie: genserkins vs. something like a delta-arm 3D printer) has been on an x86, which has *LOTS* more CPU power than a BBB. On 8/28/2017 9:15 PM, thangle wrote: > i just have one more question, why everytime i change to world mode in > puma560 sim to jog or use MDI, the BBB become very lag and freeze. > > Vào 18:25:48 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles Steinkuehler > đã viết: >> >> On 8/26/2017 12:20 AM, thangle wrote: >>> thank for answers, they are really helpful >>> >>> Vào 03:20:16 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles >> Steinkuehler >>> đã viết: >>>> >>>> On 8/24/2017 9:28 PM, thangle wrote: >>>>> I have some problems when i try configuring custom arm robot 6DOF. >> hope >>>>> someone can help me resolve these. >>>>> >>>>> 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. >>>>> everytime i turn it on by "Alt+M" it return joint mode. if anyway to >> use >>>>> "world mode" in manual control >>>> >>>> >>> what should i do after home all joints, do i need to change somethings >> in >>> .hal file? I dont have a real machine yet, just beaglebone black but i >> want >>> to simulator them first >> >> IIRC, after executing "home all", the Axis GUI will switch to world >> mode automatically. If it doesn't, there is a menu item to toggle >> between joint and world mode. >> >> -- >> Charles Steinkuehler >> [email protected] <javascript:> >> > -- Charles Steinkuehler [email protected] -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
