How to solve kinematics for robot 7dof by genserkin
16 Dec 2017 03:29 #103155
by thang
How to solve kinematics for robot 7dof by genserkin was created by thang
Hi,
Can genserkins solve inverse kinematic for 7dof robot and how to do it. When i solve inverse kinematic for a 7dof robot, i need to add one more custom equation to bind to links
Can genserkins solve inverse kinematic for 7dof robot and how to do it. When i solve inverse kinematic for a 7dof robot, i need to add one more custom equation to bind to links
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17 Dec 2017 02:36 #103183
by andypugh
Replied by andypugh on topic How to solve kinematics for robot 7dof by genserkin
No, but yes ![:-) :-)](/media/kunena/emoticons/smile.png)
By default genserkins only supports 6 joints:
github.com/LinuxCNC/linuxcnc/blob/master...ics/genserkins.h#L43
But if you were to download the source-code, alter that number and recompile then you could have 7 joints.
![:-) :-)](/media/kunena/emoticons/smile.png)
By default genserkins only supports 6 joints:
github.com/LinuxCNC/linuxcnc/blob/master...ics/genserkins.h#L43
But if you were to download the source-code, alter that number and recompile then you could have 7 joints.
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17 Dec 2017 09:27 - 17 Dec 2017 09:30 #103195
by thang
Replied by thang on topic How to solve kinematics for robot 7dof by genserkin
so, do i just need modify DH parameter and #define GENSER_MAX_JOINTS = 7, i will give it a try?
Last edit: 17 Dec 2017 09:30 by thang.
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17 Dec 2017 11:34 #103200
by andypugh
Replied by andypugh on topic How to solve kinematics for robot 7dof by genserkin
Maybe.
When you say "7 DOF" I assume you mean a robot with 7 joints? If that is the case then yes, that ought to work.
When you say "7 DOF" I assume you mean a robot with 7 joints? If that is the case then yes, that ought to work.
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17 Dec 2017 11:41 #103201
by andypugh
Replied by andypugh on topic How to solve kinematics for robot 7dof by genserkin
Without reading www.ausmt.org/index.php/AUSMT/article/view/172/152 in any great detail I am beginning to suspect that genserkins might not be able to solve a robot with redundant joints.
But, if not, then you would need to compile your own kinematics anyway, so might as well start with recompiling genserkiins to see what happens.
But, if not, then you would need to compile your own kinematics anyway, so might as well start with recompiling genserkiins to see what happens.
The following user(s) said Thank You: thang
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18 Dec 2017 04:28 #103267
by thang
Replied by thang on topic How to solve kinematics for robot 7dof by genserkin
after reading genserkins source-code and some documents about 7DOF redundant manipulator, i think i have to do much work to use genserkins for 7dof, it's not only simple like edit num_joints and DH parameter
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