Rotating A axis using TCP
- Abdulkareem
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20 Oct 2024 14:30 #312680
by Abdulkareem
Rotating A axis using TCP was created by Abdulkareem
Hello guys i had succeeded in implementing TCP kinematics using userkins templete , now my problem is when i want to rotate A180 ( back face of the disk) the problem is as TCP is defined there will be effect in Z,Y axis if i am parallel to X axis , the problem is that if i rotate A 180 degree there will be mechanical collision , so i want to rotate A180 without effecting any other joints, i believe this problem must be faced with anyone tried to implement TCP, could you guys shared ideas how to solve this problem with me?
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20 Oct 2024 15:23 - 21 Oct 2024 07:04 #312686
by Aciera
Replied by Aciera on topic Rotating A axis using TCP
That is what switchable kinematics was developed for so create a 'switchable' kinematic file (you can use the 'millturn.comp' as a template) which will enable you to switch between joint and tcp mode.
Also see the 'sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini' simulation config for an example. You will find the kinematics component used for that in 'src/hal/components/xyzab_tdr_kins.comp'
Also see the 'sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini' simulation config for an example. You will find the kinematics component used for that in 'src/hal/components/xyzab_tdr_kins.comp'
Last edit: 21 Oct 2024 07:04 by Aciera.
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