Axis Interpolation in Trivial Kinematics

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09 Jun 2020 14:28 #170838 by Ameone
Hi everyone,
I have a robotic arm with 5 axis/joints all defined as rotary in the .ini file. I'm currently using trivial kinematics so that I can directly specify the joint angles in the g-code file G1 X Y Z A B. Do you know how LinuxCNC handles the axis interpolation in this case? From what I've understood, LinuxCNC moves all axis so that the movement starts and stops at the same time. Is it correct? Moreover, how is the feedrate for each axis computed?
Thanks,

Amedeo

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09 Jun 2020 15:44 #170840 by bbsr_5a
if you go to G93 it can be calculatet at the TIME it needs to retch the point

some CAM system do this

if you do the ROBOT with the KINETICS tat is made for it like PUMA it will be this way so no need to interact by cam

WHY trivial kinetics if you got a Non Trivial mashine

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09 Jun 2020 15:47 #170841 by Ameone
Ok thanks! We tried this approach because we wanted to handle the robot kinematics through a separate program (written in Matlab).

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09 Jun 2020 15:55 #170843 by bbsr_5a
then you need mathlab to tell to output G93 calculated on the Distance to the Axis zero point

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09 Jun 2020 16:02 #170844 by Ameone
Ok thanks again for the tip I'll try this solution!

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10 Jun 2020 06:43 #170916 by bbsr_5a
here is a ready made code no need for headbang
www.ganotechnologies.com/cnc/rapidrotary/

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10 Jun 2020 07:20 #170918 by Ameone
Thanks, pretty cool program!

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10 Jun 2020 08:04 #170921 by bbsr_5a
NP
if you want to move your robot like it is to do in a coordinatesystem you shoudt go for PUMA_kins

see the SIM -> AXIS->vismach->puma Puma560 INI File

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