Kinematics... again:/

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22 Nov 2018 11:54 #121215 by andypugh
Replied by andypugh on topic Kinematics... again:/
linuxcnc.org/docs/2.7/html/gui/vismach.html#_animating_parts

You need to move the part to a location where the centre of rotation is at the origin, set up the hal_roatate, then move the part back to where it needs to be to properly assemble the model.
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22 Nov 2018 19:52 - 22 Nov 2018 22:04 #121232 by chimeno
Replied by chimeno on topic Kinematics... again:/
Hello Andy,
I read vismach several times in linuxcnc and wiki but I can not understand, I do not know how to change the center of rotation,
this is what I do,

1-move piece to the location
link3 = Translate ([link3], 60, -150, 70)
2-nest the piece and connect it to the HAL
link3 = HalRotate ([link3], c, "joint1", 1, 1,0, 0)

In the end I found the solution, I think something started to understand, I will continue ...

link3 = Translate ([link3], 30, -50,-50)
link3 = HalRotate ([link3], c, "joint1", 1, 1,0, 0)
link3 = Translate ([link3], 30, -100,120)

Thanks for the help
Chimeno
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Last edit: 22 Nov 2018 22:04 by chimeno.

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22 Nov 2018 22:51 #121242 by andypugh
Replied by andypugh on topic Kinematics... again:/
You need to move the part so that the origin as at the rotation axis, then do the halrotate, then move it to the final position.

Halrotate "inserts" an axis in the part at the coordinate origin.
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25 Nov 2018 18:24 - 25 Nov 2018 18:25 #121329 by chimeno
Replied by chimeno on topic Kinematics... again:/

andypugh wrote: You need to move the part so that the origin as at the rotation axis, then do the halrotate, then move it to the final position.

Halrotate "inserts" an axis in the part at the coordinate origin.



Hello Andy,
the definition helped me a lot, it's my first version, I'm going to make an attempt to install "robokins.c" and look to understand the cinematica if I can gradually make this project come true, thanks
Greeting
Chimeno
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Last edit: 25 Nov 2018 18:25 by chimeno.
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05 Dec 2018 20:39 - 05 Dec 2018 20:40 #121902 by chimeno
Replied by chimeno on topic Kinematics... again:/
Hello Andy,
I have installed the robokins cinematica, but it works on a 45º plane, can you guide me that I have to investigate? I have to modify the kinematics to work with my robot?
Thank you
Chimeno
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Last edit: 05 Dec 2018 20:40 by chimeno.

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06 Dec 2018 00:47 #121914 by andypugh
Replied by andypugh on topic Kinematics... again:/
I am _far_ from an expert in kinematics, but I wonder if this is possibly a home position problem? Are the angles correct in machine space?
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08 Dec 2018 18:31 #122058 by chimeno
Replied by chimeno on topic Kinematics... again:/
Hello Andy,
sorry but I just can not understand "Corners are correct in the space of the machine", you mean the angles of the pieces placed in vismash?
Regards, Chimeno

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08 Dec 2018 22:24 #122070 by andypugh
Replied by andypugh on topic Kinematics... again:/
I didn't say "corners" I said angles.

If you look at the model and look at the joint angles in the GUI does 90 degrees look like 90 degrees?

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09 Dec 2018 11:15 #122101 by chimeno
Replied by chimeno on topic Kinematics... again:/

andypugh wrote: I didn't say "corners" I said angles.

If you look at the model and look at the joint angles in the GUI does 90 degrees look like 90 degrees?



Hello Andy,
sorry I was wrong to write, been looking at the GUI but I am not able to see it ... I think it is 90º, but in the vismash it is not reflected.
Thank you
Chimeno

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09 Dec 2018 11:39 #122102 by andypugh
Replied by andypugh on topic Kinematics... again:/
Try jogging to zero and 180 too, those should be fairly clear.
Unless the joint angles in the model match the commanded positions the Vismach preview will be inaccurate.
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