Re: [Emc-users] OT: Fwd Kinematics Equation
Oh my. A brave one ;) Jan, I'm really happy to hear that. It would be even nicer if you had some pics/videos of it. Regarding the joint/axes speed/accel limitations we started a branch to fix up the code. Micges picked up what I did there, and extended it to a point where it started to work (at least jogging works, and coordinated moves work, but vel/accel limits aren't really done properly). We're still thinking how to do that, so maybe if you have some insight you could come up with an idea. Regards, Alex - Original Message - From: Jan Van Gilsen janvangil...@gmail.com To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net Sent: Monday, July 26, 2010 8:40 PM Subject: Re: [Emc-users] OT: Fwd Kinematics Equation Alex, Your code has successfully driven my (not simulated) Puma560, I'm having problems with the speed/accel. limitations (as they are axis limits, not joint limits) The only solution I have a.t.m. is to reduce the overall speed so no joint limits are reached (works if no singularities come to close) Regards, Jan On Fri, Jul 23, 2010 at 19:04, Alex Joni alex.j...@robcon.ro wrote: This is easily handled by genserkins. genserkins = general serial kinematics (e.g. kins where each joint is serially connected to the previous one). PS: bear in mind that I added genserkins recently to emc2 and that it hasn't driven a physical robot yet (afaik). so there can be bugs (or dragons or whatnot). -- The Palm PDK Hot Apps Program offers developers who use the Plug-In Development Kit to bring their C/C++ apps to Palm for a share of $1 Million in cash or HP Products. Visit us here for more details: http://ad.doubleclick.net/clk;226879339;13503038;l? http://clk.atdmt.com/CRS/go/247765532/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT: Fwd Kinematics Equation
Alex, Your code has successfully driven my (not simulated) Puma560, I'm having problems with the speed/accel. limitations (as they are axis limits, not joint limits) The only solution I have a.t.m. is to reduce the overall speed so no joint limits are reached (works if no singularities come to close) Regards, Jan On Fri, Jul 23, 2010 at 19:04, Alex Joni alex.j...@robcon.ro wrote: This is easily handled by genserkins. genserkins = general serial kinematics (e.g. kins where each joint is serially connected to the previous one). PS: bear in mind that I added genserkins recently to emc2 and that it hasn't driven a physical robot yet (afaik). so there can be bugs (or dragons or whatnot). -- The Palm PDK Hot Apps Program offers developers who use the Plug-In Development Kit to bring their C/C++ apps to Palm for a share of $1 Million in cash or HP Products. Visit us here for more details: http://ad.doubleclick.net/clk;226879339;13503038;l? http://clk.atdmt.com/CRS/go/247765532/direct/01/ ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[Emc-users] OT: Fwd Kinematics Equation
Does anyone happen to have a completed (or process to complete one) equation for forward kinematics to solve the following structure? Origin Fixed point (A) -- Joint Length (L1) -- Wrist (F) -- Elbow (B) -- Joint Length (L2) -- Wrist (G) -- Elbow (C) -- Joint Length (L3) -- Wrist (H) -- Elbow (D) -- Joint Length (L4) -- Terminus The input parameters would be a) Fixed Lengths L1, L2, L3, L4 b) dynamic angles in degrees of Wrists F, G, H, that rotate about the joint axes c) dynamic angles in degrees of Elbows B,C,D that rotate orthogonally to the joint angles. Output solution would be geometric location of terminus in x,y,z co-ordinates relative to the Origin point (assume 0,0,0 ok) I've pushed through a lot of the DH descriptors - but to be honest, my few remaining brain cells just aren't up to the task of multiplying and transforming 6 4x4 matricies anymore (if they ever were!)- of which I probably would get it wrong a lot Does anyone have a method to create this layout (using one of those computer thinginesthose things that are supposed to do the hard work for us?) and generate the equation set to determine the terminus X,Y,Z location? I've found a couple of simulators that are supposed to (but don't) do this. Matlab is also supposed to have an OS plugin, but it's apparently been purged from existence, and I don't have a seat of Matlab to play with, anyway. I've looked through the pumakins as well as a lot of the available (and yes, mind-numbing literature) on kins descriptors - and am still kind of lost to solve it. This is for a device similar in design to a digitizing arm that I want to eventually attach to an EMC machine - so to be honest, I'd rather spend time integrating it with EMC instead of solving the maths by hand. Opinions and Thoughts welcome! Thanks, Ted. -- This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT: Fwd Kinematics Equation
On 23 July 2010 15:36, Ted Hyde laser...@gmail.com wrote: I've pushed through a lot of the DH descriptors - but to be honest, my few remaining brain cells just aren't up to the task of multiplying and transforming 6 4x4 matricies anymore (if they ever were!)- of which I probably would get it wrong a lot I _think_ you can just put the DG parameters into genserkins as scalars, and let that worry about the matrices. This information comes with the caveat that the most I have ever done with genserkins is look through the source thinking gosh, this looks like clever stuff Matlab is also supposed to have an OS plugin, but it's apparently been purged from existence, and I don't have a seat of Matlab to play with, anyway. There is a free Matlab-clone called Octave which runs under Linux and might help. -- atp -- This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] OT: Fwd Kinematics Equation
This is easily handled by genserkins. genserkins = general serial kinematics (e.g. kins where each joint is serially connected to the previous one). Take a look at the (very brief) description of how I set up genserkins for a puma560: http://juve.ro/blog/puma You would have to translate your lengths and angles to the way genserkins uses the notations. Take a look at the drawing with dimension I used: http://www.electronicsam.com/images/puma/pumaarm.jpg and the DH parameters which came out: Joint A Alpha D 0 0 0 26.45 1 0 90 -5.5 2 17 0 0 3 0 90 17.05 4 0 -90 0 5 0 90 2.2 There is a sample config called puma560 which shows this working setup with emc2. Regards, Alex PS: bear in mind that I added genserkins recently to emc2 and that it hasn't driven a physical robot yet (afaik). so there can be bugs (or dragons or whatnot). On 7/23/2010 5:36 PM, Ted Hyde wrote: Does anyone happen to have a completed (or process to complete one) equation for forward kinematics to solve the following structure? Origin Fixed point (A) -- Joint Length (L1) -- Wrist (F) -- Elbow (B) -- Joint Length (L2) -- Wrist (G) -- Elbow (C) -- Joint Length (L3) -- Wrist (H) -- Elbow (D) -- Joint Length (L4) -- Terminus The input parameters would be a) Fixed Lengths L1, L2, L3, L4 b) dynamic angles in degrees of Wrists F, G, H, that rotate about the joint axes c) dynamic angles in degrees of Elbows B,C,D that rotate orthogonally to the joint angles. Output solution would be geometric location of terminus in x,y,z co-ordinates relative to the Origin point (assume 0,0,0 ok) I've pushed through a lot of the DH descriptors - but to be honest, my few remaining brain cells just aren't up to the task of multiplying and transforming 6 4x4 matricies anymore (if they ever were!)- of which I probably would get it wrong a lot Does anyone have a method to create this layout (using one of those computer thinginesthose things that are supposed to do the hard work for us?) and generate the equation set to determine the terminus X,Y,Z location? I've found a couple of simulators that are supposed to (but don't) do this. Matlab is also supposed to have an OS plugin, but it's apparently been purged from existence, and I don't have a seat of Matlab to play with, anyway. I've looked through the pumakins as well as a lot of the available (and yes, mind-numbing literature) on kins descriptors - and am still kind of lost to solve it. This is for a device similar in design to a digitizing arm that I want to eventually attach to an EMC machine - so to be honest, I'd rather spend time integrating it with EMC instead of solving the maths by hand. Opinions and Thoughts welcome! Thanks, Ted. -- This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users -- This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
