<https://lh3.googleusercontent.com/-dIhb3BC0pXM/WdCk37JRiAI/AAAAAAAAAhQ/iR6u2eKK1lM6xXF1fTjVsT0TT5XdXI6fgCLcBGAs/s1600/scara_5dof.png> Thank for your advice,
the arm robot i want to controll is like scara but it has one more dof (5dof) however it just control 4 axis xyzC (already solved kinematics and dynamics equation). in order to control it, i will use AC servo (or DC servo). I think it's possible to use Gcode for planning trajectory.About ROS, i 'm having plan to use it in future with another robot but for now, i still want to try control arm robot by linuxcnc Vào 03:00:41 UTC+7 Chủ Nhật, ngày 01 tháng 10 năm 2017, Chris Albertson đã viết: > > Is LinuxCNC/machinekit the right tool for this? It's advantage is that > it has a fast servo loop but there are many things in does not do and > linuxcnc is basically a g-code interpreter and unless the robot arm is just > doing blind repetitive work g-code is not going to work. For example I > don't see how to integrate g-code with a vision system. > > Why step back and describe the big picture? What is the goal? And what > kind of motors do you have. Are these servo motors with encoders? You are > asking very low level detailed questions but with no context. > > See the link below. This is what I'm using to control an arm. The > article is very high level and assumes a lot about the reader. But in > general arm control is not easy so you REALLY want to make use of existing > software. This describes how to use some existing software for "constraint > controlled inverse kinematics" of 6+ DOF arms. It can compute all the > motion planning and accelerations and torques to (say) reach around an > obstacle and place the end effector at the desired location and orientation > all in realtime. > > I would strongly suggest getting this all to work on standard PC > hardware. One that has good performance and loads of RAM. Then if needed > move the solution to a smaller platform like RPi3. Starting on the small > platform is not nearly as easy. > > ....ros.org/arm_navigation/Tutorials/Running arm navigation... > <http://wiki.ros.org/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm> > > > > > On Sat, Sep 30, 2017 at 9:29 AM, thangle <[email protected] > <javascript:>> wrote: > >> Hi, >> >> i having a project about control arm robot, and i'm research dynamic >> control ( computed torque control PD). If any projects used to do it in >> linuxcnc(machinekit? One thing i can do is write a C code to calculate >> Torque of joints. I dont know how to intergrate them into linuxcnc. It's >> great if there are some examples for reference because i'm still quite new >> in linuxcnc(machinekit) and embedded. >> >> -- >> 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] <javascript:>. >> Visit this group at https://groups.google.com/group/machinekit. >> For more options, visit https://groups.google.com/d/optout. >> > > > > -- > > Chris Albertson > Redondo Beach, California > -- 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.
