6 DOF Kinematics (genserkins)
16 Aug 2016 15:38 #78875
by Cpk_Rbt
6 DOF Kinematics (genserkins) was created by Cpk_Rbt
We are retrofitting a KUKA AGILUS R700 with LinuxCNC controls and are struggling with the kinematics.
The robot does not move at all, and the system locks up from genserkins errors after attempting to jog in World mode.
Our D-H parameters:
LinuxCNC 2.7.6
The robot does not move at all, and the system locks up from genserkins errors after attempting to jog in World mode.
Our D-H parameters:
Warning: Spoiler!
setp genserkins.A-0 -25
setp genserkins.A-1 315
setp genserkins.A-2 35
setp genserkins.A-3 0
setp genserkins.A-4 0
setp genserkins.A-5 0
setp genserkins.ALPHA-0 -1.570796326
setp genserkins.ALPHA-1 0
setp genserkins.ALPHA-2 1.570796326
setp genserkins.ALPHA-3 -1.570796326
setp genserkins.ALPHA-4 1.570796326
setp genserkins.ALPHA-5 3.141592654
setp genserkins.D-0 -400
setp genserkins.D-1 0
setp genserkins.D-2 0
setp genserkins.D-3 -365
setp genserkins.D-4 0
setp genserkins.D-5 -80
setp genserkins.A-1 315
setp genserkins.A-2 35
setp genserkins.A-3 0
setp genserkins.A-4 0
setp genserkins.A-5 0
setp genserkins.ALPHA-0 -1.570796326
setp genserkins.ALPHA-1 0
setp genserkins.ALPHA-2 1.570796326
setp genserkins.ALPHA-3 -1.570796326
setp genserkins.ALPHA-4 1.570796326
setp genserkins.ALPHA-5 3.141592654
setp genserkins.D-0 -400
setp genserkins.D-1 0
setp genserkins.D-2 0
setp genserkins.D-3 -365
setp genserkins.D-4 0
setp genserkins.D-5 -80
LinuxCNC 2.7.6
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17 Aug 2016 16:06 #78951
by Cpk_Rbt
Replied by Cpk_Rbt on topic 6 DOF Kinematics (genserkins)
Attached are the HAL file for this configuration and a sample of the errors output by dmesg
Any attempt to jog the robot in world mode causes a flood of kinematics errors in the kernel log, which eventually freezes the computer.
We have also used genserkins from the command line to test our parameters, it also throws errors and does not solve the kinematics (forward or inverse). We tried command line genserkins with the default PUMA config also (the one that uses genserkins, not pumakins) and it will solve a forward or inverse kinematics solution, AND throws errors at the same time.
If anyone has any insight into why this is happening, any information would be greatly appreciated. Thanks!
Any attempt to jog the robot in world mode causes a flood of kinematics errors in the kernel log, which eventually freezes the computer.
We have also used genserkins from the command line to test our parameters, it also throws errors and does not solve the kinematics (forward or inverse). We tried command line genserkins with the default PUMA config also (the one that uses genserkins, not pumakins) and it will solve a forward or inverse kinematics solution, AND throws errors at the same time.
If anyone has any insight into why this is happening, any information would be greatly appreciated. Thanks!
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01 May 2017 23:25 #92485
by Boogie
Replied by Boogie on topic 6 DOF Kinematics (genserkins)
Hi, have you solved the problems with serial kinematics?
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