help to set up the kinematics
I have a 6 axis robotic arm and i want insert the kinematics of this arm. Can i do this? Which files and how i must change them?
If it possible, you can write me step by step how I should do?
Thank you
Francesca
Please Log in or Create an account to join the conversation.
setp pumakins.A2 200
setp pumakins.A3 300
setp pumakins.D3 100
setp pumakins.D4 500
Or I should edit for example pumakins.h or pumakins.c and then recompile emc2?
Sorry if my questions are so stupid
Please Log in or Create an account to join the conversation.
This is the kinematics docs.
www.linuxcnc.org/docview/html/motion_kinematics.html
I don't really understand it all but I do know where the docs are...
John
Please Log in or Create an account to join the conversation.
So....For custom kinematics I should edit only the "pins" in the HAL were created by the pumakins or genserkins kinematics module? like this
setp pumakins.A2 200
setp pumakins.A3 300
setp pumakins.D3 100
setp pumakins.D4 500
Or I should edit for example pumakins.h or pumakins.c and then recompile emc2?
Sorry if my questions are so stupid
If your robot is a Puma layout, then putting the correct setting is as above should do the trick.
You will need to set up the actuator limits and scales too, of course.
You only need to recompile if you are creating your own completely custom kinematics (and genserkins should cover just about any eventuality really)
I assume you have already spotted the sample Puma configuration?
Please Log in or Create an account to join the conversation.
andypugh wrote:
If your robot is a Puma layout, then putting the correct setting is as above should do the trick.
You will need to set up the actuator limits and scales too, of course.
You only need to recompile if you are creating your own completely custom kinematics (and genserkins should cover just about any eventuality really)
I assume you have already spotted the sample Puma configuration?
I have an Armdroid 1 Robot....
Then I could set correctly genserkins module with the parameters of my robot without recompile? in this way should it work?
Please Log in or Create an account to join the conversation.
That looks very much like a Puma. By setting the pumakins parameters correctly you might well be able to get the required kinematics.
Otherwise genserkins ought to work (just because it has a lot more parameters).
The drawback is that you need to figure out the Denavit-Hartenberg parameters:
en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters
Has a nice video.
I think in your case it is all fairly easy.
Joint 0 has zero for all parameters.
Joint 1 has alpha = pi/2 d = offset, alpha = 0, r = 0
joint 2 has alpha = 0, theta = 0 , d=0, r = upper-arm length,
joint 3 has alpha = 0, theta = 0. d = 0, r = forearm arm length
joint 4 has alpha =0, theta = pi/2 d= wrist joint offset r = 0
But that is just a guess. You probably need to swap the signs of some angles, swap some d and r terms. that sort of thing.. I have never actually derived DH parameters or used genserkins.
Please Log in or Create an account to join the conversation.
Please Log in or Create an account to join the conversation.
Please Log in or Create an account to join the conversation.
I ask this because my robot don't move if i write a MDI command line.
Sorry if i make confusion....i am new user of this software!
Please Log in or Create an account to join the conversation.
Please Log in or Create an account to join the conversation.