making 6 axis robotic arm with puma 560 kinematics
14 Jan 2011 13:10 #6682
by andypugh
Replied by andypugh on topic Re:making 6 axis robotic arm with puma 560 kinematics
billi83 wrote:
Anything is possible in EMC2![:-) :-)](/media/kunena/emoticons/smile.png)
Add the following to your HAL file.. (You will need to modify this to work with your setup, but this should be close)
Hmm, that is actually quite a lot simpler than editing the kinematics.
If I could create this signals Phi4 and Phi5 in hal:
Phi4 = J4pos + J5pos
Phi5 = J4pos - J5pos
Is it possible?
Anything is possible in EMC2
![:-) :-)](/media/kunena/emoticons/smile.png)
Add the following to your HAL file.. (You will need to modify this to work with your setup, but this should be close)
loadrt sum2 count=2
addf sum2.0 servo-thread
addf sum2.1 servo-thread
#make the second sum2 into a subtractor
setp sum2.1.gain1 -1
net J4 axis.4.motor-pos-cmd => sum2.0.in0 sum2.0.in1
net J5 axis.5.motor-pos-cmd => sum2.1.in0 sum2.1.in1
net P4 sum2.0.out => stepgen.4.position-cmd
net P5 sum2.0.out => stepgen.5.position-cmd
Hmm, that is actually quite a lot simpler than editing the kinematics.
The following user(s) said Thank You: bodhi_94
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14 Jan 2011 15:31 #6684
by billi83
Replied by billi83 on topic Re:making 6 axis robotic arm with puma 560 kinematics
It's exactly the kind of solution that I was looking for!
Simple and efficient!
Thanks a lot!
Simple and efficient!
Thanks a lot!
The following user(s) said Thank You: bodhi_94
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