Hello, gentlemen! Few months ago I started my attempts in getting genserkins module working also with linear joints. Finally I can report that some success has been achieved! 1) I downloaded source code from git, checked out version 2.4.6, substituted genserkins.c and genserkins.h files and compiled it with run-in-place Both genserkins.c and genserkins.h files are here: http://www.cutting.lv/fileadmin/user_upload/genserkins.c http://www.cutting.lv/fileadmin/user_upload/genserkins.h
2) I have created modified pumagui virtual machine model to change joint 0 from rotary to angular and change the looks of joint 0 a little-bit. The file is located here: http://www.cutting.lv/fileadmin/user_upload/pumagui 3) I took sample config of simulated puma arm and adjusted them - in INI file I changed limits and changed from ANGULAR to LINEAR for AXIS_0 HAL file has experienced little more changes (now it is very similar to puma560 HAL file). Both files are here: http://www.cutting.lv/fileadmin/user_upload/puma.ini http://www.cutting.lv/fileadmin/user_upload/puma_sim_6.hal I have been jogging the arm and trying to run the default g-code file as well to check for the arm's behavior. The result that I have achieved: 1) everything is fine in joint mode, joints home just as I want them to do, no issues here (because kinematics module does not affect joint mode); 2) in world mode I have 2 problems: a) there is a 90 degree mismatch between "actual" Cartesian space and "intended" one - "actual" X is pointing, where Y should be and Y is pointing in -X direction. I am convinced that problem is in "bad" alignment of joint 0 against Cartesian coordinates. So I tried changing alpha and theta values in HAL file to get the correct placement, but I feel like I have been able to get _all possible_ orientations, but the correct one. b) I have set scale parameter for joint 0 and it is ok in joint mode, but not ok in world mode. Basically, there is huge difference in movement amount between joint and world modes, when movement happens in joint 0. It makes me feel that there is something wrong in the kinematics module. c) after homing and switching to world mode EMC shows that B position is 90. I thought that it should change as I adjust alpha and/or theta values for joints 3, 4 and 5, but no - it does not change at all! d) jogging joints 3,4 and 5 works correctly. jogging axes A, B or C does not... It behaves strangely - jogging A and C in positive direction cause moving joint 3 in positive and negative directions respectively. I would like to ask, if someone could take a look at those files and test them and let me know of results. Thanks! Viesturs ------------------------------------------------------------------------------ Benefiting from Server Virtualization: Beyond Initial Workload Consolidation -- Increasing the use of server virtualization is a top priority.Virtualization can reduce costs, simplify management, and improve application availability and disaster protection. Learn more about boosting the value of server virtualization. http://p.sf.net/sfu/vmware-sfdev2dev _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
