Kinematics... again:/

Hello Andy,
I enclose a sample of what happens to me, it does not adjust well the Y - Z position, I think that something I am not configuring correctly, I will continue investigating how I can solve in some way, thanks
Chimeno

It clearly starts with the angles at 0,0,0,0. And if you look at the model they are x,0,90,90.

If you fix that then it might work properly.

andypugh wrote: It clearly starts with the angles at 0,0,0,0. And if you look at the model they are x,0,90,90.

If you fix that then it might work properly.

Hello Andy,
I'm progressing, I have corrected the angles .. I still do not work well the simulation as it should be, do you have any more idea that I can look at?
Thank you
Chimeno

The angles still do not look right to me. Just before switching to world mode the arm is showing 0,0,-90, 90. But the sections are all 100% in line, so the angles can not be right.

andypugh wrote: The angles still do not look right to me. Just before switching to world mode the arm is showing 0,0,-90, 90. But the sections are all 100% in line, so the angles can not be right.

Hello Andy,
Now I know how the angles issue works, now if I'm still perfect, the next problem that I find is that when I go to world mode joint 1 and 2 are reversed, I've been looking for a solution but I can not find it, you know the cause or where can I look ?, thanks
Chimeno

Well, the position it goes to is a valid solution to the inverse kins.
So that looks like something that needs to be addressed in the kinematics file (it should always prefer an elbow-up orientation, I suppose).

Could you post ur kinematic file and DH parameter here, we might help you easier

thang wrote: Could you post ur kinematic file and DH parameter here, we might help you easier

hi thang,

sorry, you are absolutely right, publish the first files in a previous post but not updated, I attach the documents, thank you very much
Chimeno


thanks Andy.

Your kinematic is lacking somethings.
With this robot, there is at least 2 configs: elbow up and elbow down. Your robot changed config during move
Looking at pumakins.c as an example, how to keep config :
github.com/LinuxCNC/linuxcnc/blob/master...tics/pumakins.c#L140

I saw in kinematic, there is a flag "ifflag" the way you set this flag for elbow is not true.

thang wrote: Your kinematic is lacking somethings.
With this robot, there is at least 2 configs: elbow up and elbow down. Your robot changed config during move
Looking at pumakins.c as an example, how to keep config :
github.com/LinuxCNC/linuxcnc/blob/master...tics/pumakins.c#L140

I saw in kinematic, there is a flag "ifflag" the way you set this flag for elbow is not true.

Hi Thang,
thank you very much for the help, modified the flag "if (* iflags)
q1 = q1; // q1 = -q1 "I'm learning little by little .. I attach the modified file and the screenshot to see the result, now I have to invert the Y axis, where would it be better to do this? in the cinematic model?, thanks Chimeno