robot3kins

In a series of workshops on Linuxcnc for the SA-CNC-CLUB, I have dealt with a simple 3-axis robot and wrote some notes about the theory for kinematics and the implementation in Linuxcnc. The attached document includes also the robot3kins component as well as a Vismach model.

There is a bit of innovation to extend the robot to usage in "tool mode". It is still experimental. The document describes this as well.

It is not a very useful or practical robot example - it is intended to lead the club members into robot capabilities with Linuxcnc and the maths involved, which is a problem area for most members.

There will be a follow-up document describing the same processes, but for a general 6-axis serial arm robot such as the ABB, KUKA or MOTOMAN robots.

As mentioned before, here is a follow up document which deals with a general 6 DOF serial arm robot, the kinematics theory, the implementation in Linuxcnc and a Vismach model of a Motoman robot.

The new feature of "tool" mode operation is also included.

I hope this contribution will be of help to people interested in controlling robots. Critical comments will be welcomed.

Rudy

Thanks Rudy, outstanding work as per usual. Very informative.
You must have sensed that I was coming to see you about kins soon

We have almost finished our CAM module that will be used to program work for 5 Axis head. The kinematics is a bit out of our reach so your work is really welcomed.

rudydp wrote:

As mentioned before, here is a follow up document which deals with a general 6 DOF serial arm robot, the kinematics theory, the implementation in Linuxcnc and a Vismach model of a Motoman robot.

The new feature of "tool" mode operation is also included.

I hope this contribution will be of help to people interested in controlling robots. Critical comments will be welcomed.

Rudy

This is great, Rudy! I would like to test it on my recently retrofitted 6-axis robot. Could you please attach or send me .c and .h source files?

Regards,
Marius Alksnys

Here attached is a tar file of the whole config directory for my Motoman robot. It also includes a few test gcode files.

As said before its is still experimental and there may still be some glitches with the wrist joint 4. I will be working on that as soon as my robot is up and running.

Rudy

My previous post did not attach the tar file - probably to big. So I removed all the stl files for the Vismach model.

Rudy

Thank you very much, Rudy!

I am tempt to bring you a six pack to South Africa since I freeze my a.. off in Canada at -29 degrees. lol