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Create variables in function of kinematics values

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24 Sep 2015 07:02 - 25 Sep 2015 03:18 #62921 by jstoquica
Replied by jstoquica on topic Create variables in function of kinematics values
Sorry, I had to restore the permissions.
Last edit: 25 Sep 2015 03:18 by jstoquica.

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24 Sep 2015 07:19 #62925 by andypugh
Replied by andypugh on topic Create variables in function of kinematics values
It is possible that inverse kins doesn't run in joint mode (just a guess, I don't know for sure).

As a test, set the pins to 1, 2, 3, 4, 5 (for example) just before the function exit point.

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24 Sep 2015 07:27 #62926 by jstoquica
Replied by jstoquica on topic Create variables in function of kinematics values
like this ?
   /* Joint 5 */

   s5 = c1 * hom.rot.x.x + s1 * hom.rot.x.y;
   c5 = c1 * hom.rot.y.x + s1 * hom.rot.y.y;


   th5 = atan2(s5, c5);

   /* copy out */

   *(haldata->th1) = 2;//th1*180/PM_PI;
   *(haldata->th2) = 4;//th2*180/PM_PI;
   *(haldata->th3) = 6;//th3*180/PM_PI;
   *(haldata->th4) = 8;//th4*180/PM_PI;
   *(haldata->th5) = 10;//th5*180/PM_PI;


   joint[0] = *(haldata->th1);
   joint[1] = *(haldata->th2);
   joint[2] = *(haldata->th3);
   joint[3] = *(haldata->th4);
   joint[4] = *(haldata->th5);

   return 0;
}

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24 Sep 2015 07:34 #62928 by jstoquica
Replied by jstoquica on topic Create variables in function of kinematics values
I tested but the th? values are 0 yet.

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24 Sep 2015 17:17 #62940 by andypugh
Replied by andypugh on topic Create variables in function of kinematics values
Making the change where you have will mess up the joint[] value outputs to axis.N.motor-position-cmd,

To check if the problem is that reverse kinematics doesn't run in joint mode, switch to world mode.

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25 Sep 2015 03:28 #62955 by jstoquica
Replied by jstoquica on topic Create variables in function of kinematics values
Hi,

In fact, when is in "world mode" the thx values are the same that kinematics modified file. But the vismach model doesn't move.

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25 Sep 2015 03:31 #62956 by andypugh
Replied by andypugh on topic Create variables in function of kinematics values

In fact, when is in "world mode" the thx values are the same that kinematics modified file. But the vismach model doesn't move.


The model wouldn't move if the values are fixed to 1,2,3 etc.

What happens in world mode with the previous kinematics file?

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25 Sep 2015 04:39 #62958 by jstoquica
Replied by jstoquica on topic Create variables in function of kinematics values
Hi,

After do that, the vismach model moved, but when run some G program the end-effector trajectory has X axis offset. Like can you see in the next image:

Attachments:

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25 Sep 2015 05:11 #62959 by andypugh
Replied by andypugh on topic Create variables in function of kinematics values
How fascinating. Do let me know what the problem turns out to be :-)

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25 Sep 2015 06:49 - 25 Sep 2015 06:56 #62962 by jstoquica
Replied by jstoquica on topic Create variables in function of kinematics values
Hi,

Yeah it's strange. However, I did the next:

1. Home all joints in "Joint Mode"
2. Switch to "World Mode"
3. Touch off all axis.
4. Run the program.

When I did that, the end-effector trajectory was success like you can see at image:



I have two questions:

1. I think isn't necessary, but, Is it possible works with the simulation and real operation in "Joint Mode"?
2. I still have not tried, but, are the position-cmd and position-fb loopback independents when I will simulate and control the motors, i.e., Can I control the virtual and real motors with them without any performance issue?

Thanks a lot for your time and knowledge.
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Last edit: 25 Sep 2015 06:56 by jstoquica.

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  1. Configuring LinuxCNC
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