custom kinematics
- Abdulkareem
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24 Oct 2024 12:50 #313072
by Abdulkareem
custom kinematics was created by Abdulkareem
hello guys i am trying to implement 5-axis TCP kinematics,
i have some questions
1- what is the difference between pos->tran and world->tran
2- in my equations i want to as an input to my kinematics the commanded position in G54 , how to extract this information
i have some questions
1- what is the difference between pos->tran and world->tran
2- in my equations i want to as an input to my kinematics the commanded position in G54 , how to extract this information
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- Aciera
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24 Oct 2024 13:01 #313073
by Aciera
Replied by Aciera on topic custom kinematics
1) There is no difference other than the name chosen by the author of the kinematic
or
2) Usually we use the absolute position in the kinematic if you want to use the relative position you would need to pass the G54 offset values to the kinematic (eg via hal pins) and subtract those from the absolute position. Not sure if there is a realtime halpin that represents the G54 offset values though.
int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)or
int scaraKinematicsForward(const double * joint,
EmcPose * world,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)2) Usually we use the absolute position in the kinematic if you want to use the relative position you would need to pass the G54 offset values to the kinematic (eg via hal pins) and subtract those from the absolute position. Not sure if there is a realtime halpin that represents the G54 offset values though.
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