Gear Ratios and Kinematics
11 Oct 2017 09:53 #100199
by bodhi_94
Gear Ratios and Kinematics was created by bodhi_94
To implement Kinematics I use genserkins and properly added DH parameters for it. But my 6 axis robot arm doesn't move according to the XYZ coordinates. I'm using servo drives for axes. And use harmonic drives. My question is, Do i need to match INPUT_SCALE in all my axes make gear ratios equal..?
For an example X axis of my robot arm has 80:1 harmonic drive and motor driver has 1:20 electronic gear ratio. Y axis harmonic drive has 100:1 ratio and 1:10 electronic gear ratio.
If I make INPUT_SCALE of X = 2000,
Do I need to set INPUT_SCALE of Y = 5000 ?
(INPUT_SCALE x Electronic gear ratio) / (Harmonic drive ratio)
Thank you.
For an example X axis of my robot arm has 80:1 harmonic drive and motor driver has 1:20 electronic gear ratio. Y axis harmonic drive has 100:1 ratio and 1:10 electronic gear ratio.
If I make INPUT_SCALE of X = 2000,
Do I need to set INPUT_SCALE of Y = 5000 ?
(INPUT_SCALE x Electronic gear ratio) / (Harmonic drive ratio)
Thank you.
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12 Oct 2017 23:31 #100307
by andypugh
Replied by andypugh on topic Gear Ratios and Kinematics
if you are using step-dir then however you work it out the SCALE should be the number of steps to move 1 degree.
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17 Oct 2017 12:47 #100463
by bodhi_94
Replied by bodhi_94 on topic Gear Ratios and Kinematics
You mean calculate INPUT_SCALE right ?
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17 Oct 2017 12:54 #100465
by andypugh
Replied by andypugh on topic Gear Ratios and Kinematics
Whatever you want to call it.
As long as the name in the HAL and the INI match you can call it anything. (or you can put the number directly in the HAL)
As long as the name in the HAL and the INI match you can call it anything. (or you can put the number directly in the HAL)
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