Kinematics Help
17 Dec 2009 21:12 #1332
by daveyddd
Kinematics Help was created by daveyddd
I am interesteed in using EMC2 to control a homemade SCARA type arm.
My question is how do I configure the arm lengths and required info for the kinematics to be correct.
Do I select the scara setup that is alredy in EMC2?
Is there a way to modify the existing scara kinematic file that is included with EMC2?
Do I have to write my own kinematics?
I am a total newbie when it comes to Linux and EMC2.
You may have to hold my hand through this but all/any help would be greatly appreciated.
Dave
My question is how do I configure the arm lengths and required info for the kinematics to be correct.
Do I select the scara setup that is alredy in EMC2?
Is there a way to modify the existing scara kinematic file that is included with EMC2?
Do I have to write my own kinematics?
I am a total newbie when it comes to Linux and EMC2.
You may have to hold my hand through this but all/any help would be greatly appreciated.
Dave
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17 Dec 2009 23:28 #1338
by BigJohnT
Replied by BigJohnT on topic Re:Kinematics Help
For kinematics you should start by reading the Kinematics section a few times till it sinks in.
www.linuxcnc.org/docview/html//motion_kinematics.html
What type of machine do you have? Someone may have already done one and could save you some time.
John
www.linuxcnc.org/docview/html//motion_kinematics.html
What type of machine do you have? Someone may have already done one and could save you some time.
John
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18 Dec 2009 01:14 #1341
by daveyddd
Replied by daveyddd on topic Re:Kinematics Help
Thanks for the info.
I have read that section a few time already. LOL
Some of it is still greek to me.
I take it then I can't edit/change the scara kinematic file already locted in EMC2?
The machine is custom. To start it wil be a 3 axis scara arm. A shoulder and eblow ( just like a scara) and third for the Z axis.
I would think this would not be that hard. I have the math formulas for the forward and inverse kinematics.
But I thought it might be easier to edit/change to scara kinematic file already in EMC2.
Dave
I have read that section a few time already. LOL
Some of it is still greek to me.
I take it then I can't edit/change the scara kinematic file already locted in EMC2?
The machine is custom. To start it wil be a 3 axis scara arm. A shoulder and eblow ( just like a scara) and third for the Z axis.
I would think this would not be that hard. I have the math formulas for the forward and inverse kinematics.
But I thought it might be easier to edit/change to scara kinematic file already in EMC2.
Dave
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18 Dec 2009 12:35 #1353
by BigJohnT
Replied by BigJohnT on topic Re:Kinematics Help
I would guess you would want to get a GIT checkout and do a RIP (Run In Place) so you can build and test your changes. When you do the GIT checkout the scarakins.c file is located in emc2-dev/src/emc/kinematics of your home folder.
wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Git
This is a shell script that I run to build after making changes
John
wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Git
This is a shell script that I run to build after making changes
#!/bin/bash
clear
cd emc2-dev/src
echo Running AutoGen on Master
./autogen.sh
echo Running Configure on Master
./configure --enable-build-documentation > /home/yourdirectoryname/Desktop/go-dev.txt
echo Running Make on Master
make > /home/yourdirectoryname/Desktop/make-dev.txt
echo
read -p "I'm Done" -n1 -s
sudo -S make setuid << 1
yourpasswordhereJohn
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21 Dec 2009 22:51 #1367
by daveyddd
Replied by daveyddd on topic Re:Kinematics Help
Thanks for the info.
I was trying to do the Git checkout today but I must have been doing something wrong.
I have EMC2 installed already using the live CD. Is this going to be a problem?
Should I uninstall EMC2?
Is there something special I should be doing or looking for when I do the checkout?
Sorry for all the questions, but like I said I am new to this linux stuff.
Oh and thanks again for your all patience and help.
I was trying to do the Git checkout today but I must have been doing something wrong.
I have EMC2 installed already using the live CD. Is this going to be a problem?
Should I uninstall EMC2?
Is there something special I should be doing or looking for when I do the checkout?
Sorry for all the questions, but like I said I am new to this linux stuff.
Oh and thanks again for your all patience and help.
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25 Dec 2009 11:31 #1388
by BigJohnT
Replied by BigJohnT on topic Re:Kinematics Help
No, you don't need to uninstall EMC to have a RIP.
I really should have used this link, sorry.
wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Ins..._or_8_04_from_source
John
I really should have used this link, sorry.
wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Ins..._or_8_04_from_source
John
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