PUMA geometry
21 Jul 2019 22:13 #140116
by felixcnc
PUMA geometry was created by felixcnc
Hello there,
I've been reading and struggling with this for quite a few time now, and there are a few things I can't get, if you don't want to read this all, I have added 3 questions at the end.
In my previous question here there was some discrepancy because I see a 6 degrees robot, but someone told me that PUMA should be 5 degrees robot, but I still see 6 joints and after some research in the code and HAL and puma configurations I couldn't find where the geometry is defined (except for a few parameters).
=================================================================
I will explain what I did , and how I did it.
PUMAKINS
To learn more about the geometry I have add some debug information inside pumakins.c so I can dump information about the joints and the EmcPose... I created a very simple function:
And added that at the end of the kinematicsForward method so I can see what is going on, and after some depuration of the output I got this xls file with the joints and world positions:
Spreadsheet
I only moved the X axis positively, so the kinematics should be like 2d robot, and that's true because only J1, J2 and J4 (joints) moved to keep the tool moving in the X axis.
So, based on the vismatch simulator I drew so I can understand how is the coordinate system and the joints:
Everything makes sense except a few things, so...
MY QUESTIONS ARE:
THANK YOU VERY MUCH!
I've been reading and struggling with this for quite a few time now, and there are a few things I can't get, if you don't want to read this all, I have added 3 questions at the end.
In my previous question here there was some discrepancy because I see a 6 degrees robot, but someone told me that PUMA should be 5 degrees robot, but I still see 6 joints and after some research in the code and HAL and puma configurations I couldn't find where the geometry is defined (except for a few parameters).
=================================================================
I will explain what I did , and how I did it.
PUMAKINS
To learn more about the geometry I have add some debug information inside pumakins.c so I can dump information about the joints and the EmcPose... I created a very simple function:
void dump(const double * joint, EmcPose* ptr) {
printf("J0,J1,J2,J3,J4,J5,x,y,z,a,b,c,u,v,w\n");
printf("%f,%f,%f,%f,%f,%f,", joint[0], joint[1], joint[2], joint[3], joint[4], joint[5]);
printf("%f,%f,%f,%f,%f,%f,%f,%f,%f\n", ptr->tran.x, ptr->tran.y, ptr->tran.z, ptr->a, ptr->b, ptr->c, ptr->u, ptr->v, ptr->w);
}And added that at the end of the kinematicsForward method so I can see what is going on, and after some depuration of the output I got this xls file with the joints and world positions:
Spreadsheet
I only moved the X axis positively, so the kinematics should be like 2d robot, and that's true because only J1, J2 and J4 (joints) moved to keep the tool moving in the X axis.
So, based on the vismatch simulator I drew so I can understand how is the coordinate system and the joints:
Everything makes sense except a few things, so...
MY QUESTIONS ARE:
- Where is the PUMA geometry defined? (link sizes, offset and relative angles between joints)
- When homed , all the angles are ZERO, so it looks like they're showing the movement on each joint instead of the axis itself. Why is that?
- Can I assume the tip of the tool is perpendicular to the X axis here?
THANK YOU VERY MUCH!
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24 Jul 2019 17:59 #140447
by felixcnc
Replied by felixcnc on topic PUMA geometry
Well... I have checked and there's a genserkin and I put some debug lines there trying to get some prints on the screen, but I had no luck.
I spoke with my professor at the university and he told me that we can use a kuka for now to get the kinematics done.
So... I am back to this topic but now asking you for help
- Where do you think it's a good place to start to get a kuka robot arm working with LinuxCNC?
For exmaple, what HAL can I use?, where is the geometry defined?, can I see one from vismatch?
Thank you very much indeed,
Cheers
Thanks!
I spoke with my professor at the university and he told me that we can use a kuka for now to get the kinematics done.
So... I am back to this topic but now asking you for help
- Where do you think it's a good place to start to get a kuka robot arm working with LinuxCNC?
For exmaple, what HAL can I use?, where is the geometry defined?, can I see one from vismatch?
Thank you very much indeed,
Cheers
Thanks!
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