This looks awesome! I can imagine building up a library of CNC and robot models, which would be much easier than having to write a new kinematics program for every robot. One hurdle here is that the ikfast solver is tied to a specific version of a model. If you change parameters (arm length, for example), then the solver needs to be regenerated. This means that users might have to run ikfast locally to get their particular model working.
One minor point about COLLADA vs. XML in your wiki entry: I've spent a fair amount of time making models for OpenRAVE, and have generally found XML models to be much easier to edit by hand. The COLLADA format is easier to export from some CAD packages, but any manual changes are a giant pain due to the structure. Thanks for setting this up! Rob On Fri, Dec 13, 2013 at 12:53 AM, Frank Tkalcevic < fr...@franksworkshop.com.au> wrote: > For those that are interested, I managed to get ikfast working with > linuxcnc. > > > > I've created an ikfast output generator to produce C code that can be > compiled as a realtime object. Closed form solutions don't link with > external libraries and are very fast. Numerical solutions use the lapack > libraries. To get this to work I extracted the lapack fortran files that > were needed, and patched the kernel makefiles to compile fortran. Although > this is technically feasible, numerical solutions appeared too slow. > Typical closed form solutions run at about 5-10us, while numeric solutions > are around 4ms! > > > > Details here http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Ikfast > > > > > > > > > > > ------------------------------------------------------------------------------ > Rapidly troubleshoot problems before they affect your business. Most IT > organizations don't have a clear picture of how application performance > affects their revenue. With AppDynamics, you get 100% visibility into your > Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics > Pro! > http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
