making 6 axis robotic arm with puma 560 kinematics

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14 Jan 2011 13:10 #6682 by andypugh
billi83 wrote:

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 :-)

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
It's exactly the kind of solution that I was looking for!

Simple and efficient!

Thanks a lot!
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