Non trivial kinematics (Manipulator) with LinuxCNC Full documentation

09 Dec 2016 12:18 - 09 Dec 2016 12:20 #83831 by jstoquica
Good day everyone,

I am attaching my master document where I did a retrofitting of 5 DOF manipulator using LinuxCNC. Later I will translate to English all information for LinuxCNC community. YOu can find at document:

- Comparative tables with other OAC (Open Architecture Controller) and Robotics Software with LinuxCNC as better option.
- Detailed information relative to vismach simulator for manipulators.
- Detailed information about HAL and INI configuration with real manipulator.
- More of linuxcnc advantages.........!!!!

Thanks a lot for the contributions and I appreciate yours comments.
Last edit: 09 Dec 2016 12:20 by jstoquica.
The following user(s) said Thank You: tommylight, Shu
10 Dec 2016 02:31 #83874 by Shu
That is a great endeavor! Very much looking forward to the English translation!
18 Jan 2017 03:23 - 18 Jan 2017 03:28 #86030 by sholmes

A couple years ago I started working towards something similar using a CRS A255 5 DOF robot arm, but did not get too far. I managed to build a simulator and have it work in joint mode, but ran into issues with the DH parameters and trying to make the genhexkins module work for a 5 DOF robot. That didn't work and I assumed it was due to the missing joint. However my algebra is pretty weak and thus far I have had a very tough time digging in deep enough to build my own kinematics module.

It looks to me like your IRB6 is very similar in terms of the joint relations, just different lengths for the links.

I am going through your posts and see a lot of interesting material.

I will review your report as best I can, but as you might guess I don't read Portuguese so it may take me some time with the translators.

I would love to get the robots that I have moving again!

Have you posted the working versions of the LinuxCNC files some place where I might be able to find them to play with? I see them in the appendix of your report. I will try to work from those and see how far I get.

Great work!
Last edit: 18 Jan 2017 03:28 by sholmes.
03 Apr 2017 15:02 #90802 by jstoquica
Hi sholmes,

Recently I upload configuration files, guide and tutorial video of IRB6-S2 robot.

I posted in linuxcnc forum:

Files are in:

Video is in:

Whatever you need is only post or send message to me.

The following user(s) said Thank You: sholmes
04 Apr 2017 03:01 #90848 by sholmes
That's great! Thank you very much. Hopefully I'll be able to Mak some time to play with it very soon.
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