Hexapod Configuration

I'm looking for help in configuring a hexapod. I started with the hexapod simulator configuration and have modified it to use real hardware. I have been successful in moving the hexapod with the default joint values in kinematics.hal, however once I update the values to match my hardware, the motions don't make sense to me and the actuators try to go beyond their limits, etc.

I think I'm a little confused about what the values in the kinematics.hal represent or relate to. Specifically, I don't understand how to specify the actuator length, if the genhexkins.platform.[N].n values are relative to the platform coordinates and the genhexkins.base.[N].n are relative to the world coordinates.

I'll attach my configs files and would greatly appreciate ideas.

I've also attached a few pictures to show the joint coordinates.

 

Guess my last question wasn't specific enough.

I'm trying to update the values in kinematics.hal to match my real system and need assistance understanding a few details, specifically the unit vectors.

Using the values from the simulator, found here:

github.com/LinuxCNC/linuxcnc/blob/master...ematics/genhexkins.h

Let's focus on strut "0"

/* Default position of platform strut end in platform coordinate system */

#define DEFAULT_PLATFORM_0_X -1.000
#define DEFAULT_PLATFORM_0_Y 11.500
define DEFAULT_PLATFORM_0_Z 0.000

(x,y,z) <=> (-1,11.5,0)

/* Default unit vectors of platform joints axes in platform coordinates */

#define DEFAULT_PLATFORM_0_NX -1.0
#define DEFAULT_PLATFORM_0_NY 0.0
#define DEFAULT_PLATFORM_0_NZ 0.0

(x,y,z) <=> (-1,0,0)

Can anyone help me understand how this unit vector is calculated? Specifically, I don't understand how a unit vector can contain only an "x" component, if it's derived from values that have both and x&y component.

Any thoughts would be appreciated. Thanks for your consideration.

bw

 
 

Have you figured out this issue, I'm also confused.

No...unfortunately not.