On 12/14/2015 07:24 AM, Andrew wrote: > 2015-12-14 14:07 GMT+02:00 andy pugh <[email protected]>: > >> Each kinematics module contains a kinematicsHome function. >> >> This doesn't seem to be exported, and I don't see any evidence of it >> being called anywhere. >> >> Am I missing something? >> > > You aren't, but I'm really missing this feature when setting up any > parallel robot. > It could really simplify home settings. > Now home kinematics is always forward. Thus the inverse kins should be > calculated first to get the joint home values for the nesessary world home > position. > If home kins could be set to Inverse, the joint home values would be > automatically calculated from the world home pos. > That how I see it, is that how it was back in EMC times?
I agree, some kinds of robots really want kinematically aware homing. Perhaps the original EMC code had an eye towards that goal, but it never got finished? I know how that goes... If I was going to work on this I would look at how Motion currently does homing, and see if it would be feasible to pull that code out into a stand-alone function, then see about letting kinematics override that function. I'm not going to do this work myself right now, but I'd be happy to provide input and review if someone else wanted to take it on. -- Sebastian Kuzminsky ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
