> Re: [Emc-users] PUMA reverse kinematics > From: Chris Radek <[EMAIL PROTECTED]> - 2007-08-04 03:17 > On Fri, Aug 03, 2007 at 10:32:21PM -0300, christopherpurcell wrote: > > 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. > > -- > > That PUMA demo is hooked up to EMC, you can get the CVS trunk version > and run the included puma configuration. > > The kinematics (forward and inverse) are > > http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/pumakins.c?rev=1.4 > > I'm not sure how well they are working right now, let us know what > you find. > > From: Chris Radek <[EMAIL PROTECTED]> - 2007-08-04 03:17 > Chris > I was able to build the CVS trunk version of EMC as you suggested, after installing a few missing ubuntu development tools. The EMC trunk demo of the PUMA robot starts up, and displays a static image of the PUMA in a TK window. The puma.ini file is looking for gamepad.hal which I can't find in the EMC trunk components. Commenting that line out does not help. What is in gamepad.hal?
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