I have a prototype puma robot in my living room, mostly to amaze visiting teenagers who think they have seen it all. It makes scary noises and moves nicely with EMC2 but now I am ready for some PUMA reverse kinematics so I can put this work. Has anyone done this already? The EMC2 docs mention PUMA robots but I have not found any ready to use examples of configuration files. The PUMA OPENGL simulation from http://jmkasunich.dyndns.org/cgi-bin/blosxom/software/simulated-machine-02-04-07.html is mesmerizing but it seems to have just the forward kinematics in its code. -- <christopherpurcell at mac dot com>
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