Kinematics... again:/

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09 Dec 2018 17:33 - 09 Dec 2018 17:33 #122107 by chimeno
Replied by chimeno on topic Kinematics... again:/
Hello Andy,
I enclose a sample of what happens to me, it does not adjust well the Y - Z position, I think that something I am not configuring correctly, I will continue investigating how I can solve in some way, thanks
Chimeno
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Last edit: 09 Dec 2018 17:33 by chimeno.

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09 Dec 2018 19:58 #122112 by andypugh
Replied by andypugh on topic Kinematics... again:/
It clearly starts with the angles at 0,0,0,0. And if you look at the model they are x,0,90,90.

If you fix that then it might work properly.
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11 Dec 2018 20:44 - 11 Dec 2018 20:44 #122233 by chimeno
Replied by chimeno on topic Kinematics... again:/

andypugh wrote: It clearly starts with the angles at 0,0,0,0. And if you look at the model they are x,0,90,90.

If you fix that then it might work properly.



Hello Andy,
I'm progressing, I have corrected the angles .. I still do not work well the simulation as it should be, do you have any more idea that I can look at?
Thank you
Chimeno
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Last edit: 11 Dec 2018 20:44 by chimeno.

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11 Dec 2018 22:25 #122237 by andypugh
Replied by andypugh on topic Kinematics... again:/
The angles still do not look right to me. Just before switching to world mode the arm is showing 0,0,-90, 90. But the sections are all 100% in line, so the angles can not be right.
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17 Dec 2018 20:11 #122532 by chimeno
Replied by chimeno on topic Kinematics... again:/

andypugh wrote: The angles still do not look right to me. Just before switching to world mode the arm is showing 0,0,-90, 90. But the sections are all 100% in line, so the angles can not be right.




Hello Andy,
Now I know how the angles issue works, now if I'm still perfect, the next problem that I find is that when I go to world mode joint 1 and 2 are reversed, I've been looking for a solution but I can not find it, you know the cause or where can I look ?, thanks
Chimeno
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17 Dec 2018 20:42 #122533 by andypugh
Replied by andypugh on topic Kinematics... again:/
Well, the position it goes to is a valid solution to the inverse kins.
So that looks like something that needs to be addressed in the kinematics file (it should always prefer an elbow-up orientation, I suppose).
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19 Dec 2018 01:40 #122586 by thang
Replied by thang on topic Kinematics... again:/
Could you post ur kinematic file and DH parameter here, we might help you easier

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19 Dec 2018 19:54 - 19 Dec 2018 19:57 #122608 by chimeno
Replied by chimeno on topic Kinematics... again:/

thang wrote: Could you post ur kinematic file and DH parameter here, we might help you easier



hi thang,

sorry, you are absolutely right, publish the first files in a previous post but not updated, I attach the documents, thank you very much
Chimeno


thanks Andy.
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Last edit: 19 Dec 2018 19:57 by chimeno.

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20 Dec 2018 01:41 - 20 Dec 2018 01:49 #122627 by thang
Replied by thang on topic Kinematics... again:/
Your kinematic is lacking somethings.
With this robot, there is at least 2 configs: elbow up and elbow down. Your robot changed config during move
Looking at pumakins.c as an example, how to keep config :
github.com/LinuxCNC/linuxcnc/blob/master...tics/pumakins.c#L140

I saw in kinematic, there is a flag "ifflag" the way you set this flag for elbow is not true.
Last edit: 20 Dec 2018 01:49 by thang.

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20 Dec 2018 20:13 - 20 Dec 2018 20:15 #122651 by chimeno
Replied by chimeno on topic Kinematics... again:/

thang wrote: Your kinematic is lacking somethings.
With this robot, there is at least 2 configs: elbow up and elbow down. Your robot changed config during move
Looking at pumakins.c as an example, how to keep config :
github.com/LinuxCNC/linuxcnc/blob/master...tics/pumakins.c#L140

I saw in kinematic, there is a flag "ifflag" the way you set this flag for elbow is not true.



Hi Thang,
thank you very much for the help, modified the flag "if (* iflags)
q1 = q1; // q1 = -q1 "I'm learning little by little .. I attach the modified file and the screenshot to see the result, now I have to invert the Y axis, where would it be better to do this? in the cinematic model?, thanks Chimeno
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Last edit: 20 Dec 2018 20:15 by chimeno.

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