Hi!
Based on the puma560 files, I've built a custom vismach model of a staubli RX60L (long arm version) and got it working in preview:
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What I am trying to do:
I want to get the axis movements, XYZABC, to work, but I can only use jog. Eventually I want to run a simple gcode program such as the stock milling one.
What is going wrong?
I am getting an error in terminal when trying to home the machine which reads:
kinematicsInverse failed
ERR kI - compute_jinv (joints: 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000), (iterations=0)
The program does not exit and I am able to resume using 'jog' in joint mode. Nothing is returned in
dmesg.
A small message displays in axis saying 'kinematics Inverse Failed'
What have I done to try and fix the problem?
I note that this error appears to relate to matrix operations in
gomath.c, called from
genserkins.c, and the former of which return the GO_RESULT_ERROR if they fail, triggering the error from genserkins.c in the terminal:
retval = compute_jinv(&Jfwd, &Jinv);
if (GO_RESULT_OK != retval) {
rtapi_print("ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=%d)\n", joints[0],joints[1],joints[2],joints[3],joints[4],joints[5], genser->iterations);
return retval;
}
I have updated
generkins.h, the
hal file and the
ini file with the parameters as I believe them to be correct, taking data from the manual and from a DH parameter analysis I have carried out (attached). I have recompiled my RIP install with the new versions (I did not run sudo make install however, its just at "make" level)
[Note: The DH params below are slightly different than in some onlinestudies, which refer to the short arm and where the zero position of the arm is horizontal rather than vertical.
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These are my new genserkins defaults:
#define DEFAULT_A1 0
#define DEFAULT_ALPHA1 0
#define DEFAULT_D1 0
#define DEFAULT_A2 0
#define DEFAULT_ALPHA2 -PI_2
#define DEFAULT_D2 0
#define DEFAULT_A3 400
#define DEFAULT_ALPHA3 0
#define DEFAULT_D3 49
#define DEFAULT_A4 0
#define DEFAULT_ALPHA4 PI_2
#define DEFAULT_D4 400
#define DEFAULT_A5 0
#define DEFAULT_ALPHA5 -PI_2
#define DEFAULT_D5 0
#define DEFAULT_A6 0
#define DEFAULT_ALPHA6 PI_2
#define DEFAULT_D6 0
.......Followed by the halfile params (I experimented with alternate angular units to no avail):
setp genserkins.A-0 0
setp genserkins.A-1 0
setp genserkins.A-2 400
setp genserkins.A-3 0
setp genserkins.A-4 0
setp genserkins.A-5 0
setp genserkins.ALPHA-0 0
setp genserkins.ALPHA-1 -1.570796326
setp genserkins.ALPHA-2 0
setp genserkins.ALPHA-3 1.570796326
setp genserkins.ALPHA-4 -1.570796326
setp genserkins.ALPHA-5 1.570796326
setp genserkins.D-0 0
setp genserkins.D-1 0
setp genserkins.D-2 49
setp genserkins.D-3 400
setp genserkins.D-4 0
setp genserkins.D-5 0
I have attached genserkins.h, the new staubli gui file (zipped to get around file extension requirement), and the updated ini and hal files.
What help would I like?
My skill level: Intermediate python and c++, new to linuxcnc
I seem to have come up against a brick wall with fixing this one. I believe my DH params are correct and have checked my files for errors, but cannot see where the problem might be. Can anyone suggest where to start looking? Am I just missing a step? Here is the contents of my vismach folder:
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