TCP 5-axis kinematics

Thank you dgarret. The other approach was more elegant but I understand that this makes it more likely to get included.

I very much appreciate your effort to get it in.

I just had a quick look but will have a more thorough look at the weekend.

Unfortunately my machine is dismantled atm (I’m scraping the ways) so I can’t really do hardware testing but will certainly try the simulation.

Thanks again for trying to push this.

Hello

I also took a look at it.
I did not find any indication of defining a rotary point what is a one of the essential point in this.

For me it looks like in this you need to define your machine zero and zero point in center of rotation axis's?

I did not find any indication of defining a rotary
point what is a one of the essential point in this.

Not an expert on the math but the XYZAC
(xyzac-trt-switchkins.c) code includes
*_rot_point halpins used in the forward
and inverse non-triv calculations:

Ref: github.com/LinuxCNC/linuxcnc/blob/dgarr/...zac-trt-switchkins.c
Lines: 105 ... xyzacKinematicsForward()
Lines: 179 ... xyzacKinematicsInverse()

This switchkins xyzac-trt-switchkins.c code incorporated
in the branch dgarr/s_kins is based on the following
information from prior forum posts:

1) Forum post of 25jan19:
forum.linuxcnc.org/10-advanced-configura...tics?start=90#124848
which seems to refer to this source:
github.com/rushabhGH/linuxcnc/blob/switc...ematics/switchKins.c

2) Updates to above switchKins.c from forum post of 04nov19:
forum.linuxcnc.org/10-advanced-configura...ics?start=170#149538
which includes this patch:
forum.linuxcnc.org/media/kunena/attachme...-homing-option.patch

This patch adds the *_rot_point halpins for XYZAC kinematics.

The code for XYZBC kins (xyzbc-trt-switchkins.c):
Ref: github.com/LinuxCNC/linuxcnc/blob/dgarr/...zbc-trt-switchkins.c
probably needs similar additions.

I can update xyzbc-trt-switchkins.c if someone supplies
a patch for incorporating the required *_rot_point hal pins.

History:

This thread discusses a complicated subject with
several contributors, a number of interested users,
a variety of nomenclature, several false starts and
some reports of success.

My interest with the dgarr/s_kins branch is to provide
a common branch to unify efforts. I will accept patches
by email (d g a r r e t t at panix dot com) and
force-push incorporated patches.

dgarret, your analysis is correct, AC has center of rotation, BC does not.

jsskangas if you could update the bc file with your center of rotation we would cover both.

Once again, thank you dgarret for putting this together.

Ok.

I will make updated packet from my machine.
I will correct one error in kinematic calculation and will send packet to dgarret.

I will try to get it done during next week.


I have not yet tested this branch and I only took fast look around changes made to code.
Can someone give me a quick heads up.

What command is used to switch between kinematics and can this switch be done when rotary axes are pre-positioned?

From reading the code, the script configs/sim/axis/vismach/5axis/table-rotary-tilting/examples/switchkins.ngc contains a function that does the switch.

so calling
o<switchkins>call[0] ;switch to XYZBC or XYZAC
o<switchkins>call[1] ;switch to TRIVKINS

the call with argument 0 will switch to AC or BC depending on the KINEMATICS loaded:
[KINS]
KINEMATICS = xyzac-trt-switchkins or KINEMATICS = xyzbc-trt-switchkins