5 DOF Robotic Arm

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31 Mar 2021 10:29 #204200 by andypugh
Replied by andypugh on topic 5 DOF Robotic Arm

Okay, I try using Vismach model and I will report what happens.

I don't use LinuxCNC kinematics beacuse I don't know how to compute it there, where can I find some information?


Take a look at the sample config sim-axis-vismach-puma
That is a Vismach model (like yours) set up with kinematics inside linuxcnc.
"puma" uses a single-purpose kineamatics - "pumakins"
"puma560" uses the general-purpose "genserkins".
You could probably use either.

Also, the docs:
linuxcnc.org/docs/2.8/html/motion/kinematics.html
linuxcnc.org/docs/2.8/html/motion/dh-parameters.html
And possibly:
linuxcnc.org/docs/2.8/html/motion/5-axis-kinematics.html

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31 Mar 2021 15:48 #204237 by Aciera
Replied by Aciera on topic 5 DOF Robotic Arm
I don't understand, when I asked you

Are you aware that you need a kinematic file to translate your joint position to cartesian coordinates?


your answer was:

Yes, in fact when I run the g-code, the robot moves correctly.


Now you write this:

I don't use LinuxCNC kinematics beacuse I don't know how to compute it there, where can I find some information?

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