Mitsubishi RV-6SDL Switchkins-config with simulation
25 Feb 2020 15:49 - 31 Mar 2020 07:30 #158467
by Aciera
Mitsubishi RV-6SDL Switchkins-config with simulation was created by Aciera
Thought I share my config of a 6-axis Mitsubishi RV-6SDL using switchkins (genserkins/trivkins) kinematics by dgarrett.
Anybody who wants to have a try needs to build the Switchkins branch of LinuxCNC: www.panix.com/~dgarrett/stuff/s_kins_guide.txt
Try loading "welding.ngc" and make sure to Touch Off at Homeposition to X0 Y0 Z100 A0 B0 C0
This is just a simulation as yet. But I have the arm here and if the guys at STMBL Drives come through with an interface to these absolute encoders it should actually turn into a real thing.
Here is a document on how I derived the DH-Parameters and how to put these in the relevant Hal pins:
I hope some of you may find it interesting.
Anybody who wants to have a try needs to build the Switchkins branch of LinuxCNC: www.panix.com/~dgarrett/stuff/s_kins_guide.txt
Try loading "welding.ngc" and make sure to Touch Off at Homeposition to X0 Y0 Z100 A0 B0 C0
This is just a simulation as yet. But I have the arm here and if the guys at STMBL Drives come through with an interface to these absolute encoders it should actually turn into a real thing.
Here is a document on how I derived the DH-Parameters and how to put these in the relevant Hal pins:
I hope some of you may find it interesting.
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