Robot 5 DOF Question
- Project_Hopeless
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01 Apr 2024 00:53 #297318
by Project_Hopeless
Robot 5 DOF Question was created by Project_Hopeless
I know you can drive 5 axis mills in LinuxCNC
Can I build a 5-DOF robot with 5 axis kinematics, or does it have to be a 6 axis kin with one dummy axis (some how)?
If 6 axis is easier or required, what is the simplist way to build that in?
Can I build a 5-DOF robot with 5 axis kinematics, or does it have to be a 6 axis kin with one dummy axis (some how)?
If 6 axis is easier or required, what is the simplist way to build that in?
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- tommylight
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01 Apr 2024 03:20 #297331
by tommylight
Replied by tommylight on topic Robot 5 DOF Question
I think that LinuxCNC has some robot sims included with Vismach visualization, and pretty sure one of those was 5 DOF.
Been to long ...
Been to long ...
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01 Apr 2024 08:40 #297347
by Aciera
I'm not aware of a 5 DOF robot simulation config in linuxcnc but I may well be looking in the wrong place. There is 'scorbot-kins.c' in the 'src/emc/kinematics' folder that seems to be for a 5 DOF 'Scorbot ER3'.
For 6 axis there is the generic 'genserkins' and the 'pumakins' kinematic.
If somebody finds others please let me know.
Replied by Aciera on topic Robot 5 DOF Question
No. A 5-axis machine kinematic consists of 3 linear cartesian joints X,Y,Z and two rotary joints. A 5 DOF serial manipulator comes with 5 rotary joints.Can I build a 5-DOF robot with 5 axis kinematics, or does it have to be a 6 axis kin with one dummy axis (some how)?
I'm not aware of a 5 DOF robot simulation config in linuxcnc but I may well be looking in the wrong place. There is 'scorbot-kins.c' in the 'src/emc/kinematics' folder that seems to be for a 5 DOF 'Scorbot ER3'.
For 6 axis there is the generic 'genserkins' and the 'pumakins' kinematic.
If somebody finds others please let me know.
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01 Apr 2024 11:54 #297361
by tommylight
Replied by tommylight on topic Robot 5 DOF Question
Was there also "scarakins" or similar?
I noticed lately the config picker has changed and stuff is added and missing from it, hence i was not sure what is there anymore.
Thank you.
I noticed lately the config picker has changed and stuff is added and missing from it, hence i was not sure what is there anymore.
Thank you.
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