Custom DH Parameters Kinematics
- Abdulkareem
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09 Sep 2024 09:57 #309722
by Abdulkareem
Custom DH Parameters Kinematics was created by Abdulkareem
hello guys,
i am want to implement 5 axis milling cnc machine kinematics with my own DH parameters, i have XYZAB joints , 3 linear and 2 rotational, is genserkins suitable for my machine config or is there is another kinematics model for this kind of config.
i am want to implement 5 axis milling cnc machine kinematics with my own DH parameters, i have XYZAB joints , 3 linear and 2 rotational, is genserkins suitable for my machine config or is there is another kinematics model for this kind of config.
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- Aciera
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09 Sep 2024 10:01 #309723
by Aciera
Replied by Aciera on topic Custom DH Parameters Kinematics
'genserkins' does not support linear axes.
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- meister
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09 Sep 2024 10:24 #309724
by meister
Replied by meister on topic Custom DH Parameters Kinematics
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- Abdulkareem
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09 Sep 2024 10:35 #309725
by Abdulkareem
Replied by Abdulkareem on topic Custom DH Parameters Kinematics
do you propose another model that supports dh parameter?
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- Abdulkareem
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09 Sep 2024 10:36 #309726
by Abdulkareem
Replied by Abdulkareem on topic Custom DH Parameters Kinematics
i checked this doc, i want to use dh parameter rather than using mathematical equations for simplicity
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- meister
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09 Sep 2024 10:48 #309728
by meister
Replied by meister on topic Custom DH Parameters Kinematics
unfortunately, i don't know any other kinematics for this, but i should also start working on this topic, maybe it can be extended by the parameters
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- Aciera
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09 Sep 2024 12:31 #309740
by Aciera
Replied by Aciera on topic Custom DH Parameters Kinematics
I'm not aware of any other kinematic that would work out of the box.
This is from a comment in 'genserkins.c':
So for your purpose you would need to implement these two TODO points.
Note that 'genserkins' uses 'modified' DH parameters as also pointed out in the comments in 'genserkins.c'
This is from a comment in 'genserkins.c':
The parameters for the manipulator are defined by hal pins.
Currently the type of the joints is hardcoded to ANGULAR, although
the kins support both ANGULAR and LINEAR axes.
TODO:
* make number of joints a loadtime parameter
* add HAL pins for all settable parameters, including joint type: ANGULAR / LINEAR
So for your purpose you would need to implement these two TODO points.
Note that 'genserkins' uses 'modified' DH parameters as also pointed out in the comments in 'genserkins.c'
The following user(s) said Thank You: tommylight
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