Hi Jan, (from the image at http://imagebin.org/33869)
When you move the motor for joint q2 Joints q3, q4 and q5 will also move When you move joint q3, joints q4 and q5 will also move. When you move joint q4 joint q5 will move. When you move q5, q4 will also move. Because they are all chain driven (q4 & q5 miter gear) on shafts coaxial with the joints. So for each axis movement, all the following axes need to be moved in the opposite direction to just stay in the same place. The Puma is not like this, as far as I can tell. Each axis on a Puma is mechanically independent of the others. I read the pumakins.h and there are defs for the joint lengths but not for the mechanical interlink that the teachmover style robot suffers from. I need to study the pumakins.c some more. Am I missing something? Dan ------------------------------------------------------------------------------ SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
