Hi >> For the most part, the robot tends to jog in a straight line, >> but drift in sort of a curve in at least one direction. > > Drift sounds like a measurement problem although it may also be > something adding up somewhere, integrating speed to get position or > similar.
Not necessarily, wrong kinematics could certainly create this result. @Alyssa: Does the robot follow the same wrong trajectory if you you teach is back and forth? If you I'd be pretty convinced that it is no measurement problem, but that DH parameters are slightly off. >> Sometimes the kinematics solve to joint angles that are >> impossible, and the robot faults for "over speed" from > trying to go to positions > 10000 degrees. > > This seems like a problem with the kinematics but maybe a measurement > error could do this to. Maybe a singularity issue? The same point and orientation in Cartesian space can be reached in different axis positions, so the orientation has to be taken care of. Kuka uses two parameters S Status and T Turn to do so, I don't know abut the LinuxCNC 6 DOF serial kinematic module but there should be something similar, I guess. The Kuka manual [1] talks about the issue on page 73ff. See you Flo [1] https://thegeekgroup.org/documents/kuka/PROGHBEXPERTE_R41_EN.PDF ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
