On Fri, 15 Feb 2019 at 15:11, Thắng Lê <lethang12...@gmail.com> wrote:
> Let's take pumakin as an example, these are some of equation to find when > robot reach singularities: > https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/kinematics/pumakins.c#L229-L230 > https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/kinematics/pumakins.c#L246-L247 > > Kinematics cant be calculated because of a square root of a negative > number. So, what would you like to happen when the robot is commanded to one of those positions? You can change the kinematics file to do anything you want. (including sending a signal out on a HAL pin) -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
