Error at InverseKinematics Function
10 Mar 2016 13:38 - 10 Mar 2016 13:38 #71333
by andypugh
Replied by andypugh on topic Error at InverseKinematics Function
To step back a level.
In the kinematics file the valuesare the XYZ etc values from G-code. At the end of G0 X 100 pos->tran.x = 100
The valuescorrelate directly to the HAL pins axis.N.motor-position-cmd.
Your kinematics file needs to bridge the gap between the numbers, in both directions.
The only thing between the motors and the HAL numbers is the encoder scaling. If you want, you can scale for motor positions in radians, for example.
In the kinematics file the values
pos->tran.x
pos->tran.y
pos->tran.z
pos->a
pos->b
pos->c
pos->u
pos->v
pos->wThe values
joints[0]
joints[1]
joints[2]
joints[3]
joints[4]
joints[5]
joints[6]
joints[7]
joints[8]Your kinematics file needs to bridge the gap between the numbers, in both directions.
The only thing between the motors and the HAL numbers is the encoder scaling. If you want, you can scale for motor positions in radians, for example.
Last edit: 10 Mar 2016 13:38 by andypugh.
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17 Mar 2016 17:53 #71822
by jstoquica
Replied by jstoquica on topic Error at InverseKinematics Function
Andy,
Regrettably the kinematic equations of the actuators only have accepted results for some angle values. It means, the equations are only reciprocals for the forward and inverse actuator kinematics in some angles, for that LinuxCNC got error in the simulation.
That equations are only made for one way, like a scale factor for the inverse kinematics outputs.
Can I modify only the HAL motion module for the motor rotation? If I can do it, How do I can? or What do you suggested for this issue?
Thanks a lot.
Regrettably the kinematic equations of the actuators only have accepted results for some angle values. It means, the equations are only reciprocals for the forward and inverse actuator kinematics in some angles, for that LinuxCNC got error in the simulation.
That equations are only made for one way, like a scale factor for the inverse kinematics outputs.
Can I modify only the HAL motion module for the motor rotation? If I can do it, How do I can? or What do you suggested for this issue?
Thanks a lot.
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18 Mar 2016 15:16 #71866
by andypugh
The kinematics code only needs to get the right answers in plausible positions. You should be able to sort things out so that the initial position gives valid calculations.
Replied by andypugh on topic Error at InverseKinematics Function
What do you suggested for this issue?
The kinematics code only needs to get the right answers in plausible positions. You should be able to sort things out so that the initial position gives valid calculations.
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