What an interesting looking machine.
We have a demo of a similar type of machine, called SCARA. In emc
2.2.2, you can run the sample configuration scara/scara.ini and see a
visualization of this machine on your desktop. Screenshot here:
http://axis.unpy.net/01170693566
In emc, the process of converting from the XYZ coordinate system to the
motor positions of a particular machine (and back again) is called
kinematics.
You can view the source code for the scara kinematics online, to get an
idea of the complexity:
http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/scarakins.c?rev=1.5
There is also documentation on writing a new kinematics type:
http://linuxcnc.org/docs/2.2/html/motion_kinematics.html
It is possible to build new kinematics types as a part of emc, or add
them to an existing emc installation -- install emc2-dev and
build-essential, then use "comp --install yourkins.c" to compile and
install a new kinematics module. The kinematics module is typically
specified at the very top of the first .hal file used for machine
configuration.
emc has some shortcomings for "nontrivial" machines.
* How to specify and enforce joint limits for acceleration and velocity
(at present, only cartesian limits are enforced)
* How to specify the working volume of the machine
however, there are a number of people interested in improving these
items, so it's possible that we'll find solutions during the current
development cycle.
Jeff
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