Mitsubishi RV-6SDL Robot arm Servo/Encoder usability

Do you know if any other control has a paradigm for this? Other than defining ad-hoc planes for each arc, which seems clumsy. 

i don't, the only way to produce arcs in arbitrary planes i know is the tilted work plane feature (ie G68.x and affiliated  gcodes).

Unfortunately, at the present state, one doesn't seem to get around the math. Which is probably one of the reasons why there tend to be so few people interested in this area of LinuxCNC. Or maybe they just don't bother sharing their work.

Regarding inverse kinematics for manipulator with spherical wrists:


Also helpful are these two documents regarding the Posemath library often used in LinuxCNC.
Note that 'genserkins' seems to be using a different library called 'gomath', if I recall correctly.

 
 

Looks good, I'd like to have a look at it. Where can I get it from?

Note that 'genserkins' uses a modified Denavit-Hartenberg parameter system. The original system orders the values differently.

Probably here
forum.linuxcnc.org/41-guis/52765-linuxcnc-robot-logger

Ok, once I figured out that it wants to be pointed to the melfa_dh.hal I got it working.

$ python git/linuxcnc-robot-logger/dh-parameter.py linuxcnc-292-feb/configs/sim/axis/vismach/melfa-sim/melfa_dh.hal

Looks nice.
I don't have much time just now but here is something not quite right in the way the D-parameters are applied. A-offset values are always in the direction of the current X-axis and the D values along the Z-axis. This is correct for A-0,D-0 but the D-1 value is applied in world-x-direction instead of the current-Z-direction (which at this point is pointing in the world-y-direction.)

Have you seen my documentation:
linuxcnc.org/docs/html/motion/dh-parameters.html

Note that in the 'modified' DH-System the angular rotation (ie 'ALPHA-n') is always applied before the 'A' and 'D'.
IIRC this is different from the standard DH-system.

Speed limits for 'World' and for 'Joint' kinematics mode are set by the [AXIS_l] MAX_VELOCITY values.
The problem here is that in 'Joint' kinematics axis X is a rotational joint while in 'World' kinematics axis X is a virtual linear axis. This usually means that the same value will be too fast for Joint kinematics and too slow in World kinematics.
It probably makes sense to switch Velocity/Acceleration settings when switching kinematics.
The setup is the same as for switching limits which I have done in the demo config in this post:

forum.linuxcnc.org/39-pncconf/52783-soft-limit-setup#301669