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

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

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

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

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.

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.

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