Organic Engines wrote: > 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. >
Then that is exactly what your kinematics code will need to do - subtract the movement of q2 from q3, q4, and q5 (possibly multiplied by some scale factor if the mechanism isn't 1:1). It requires programming, but not terribly complex programming. There isn't any existing kinematics module that does this, but if I were you I would start with a renamed copy of the puma kins, study it till I understand it, then add whatever extra math is needed. Regards, John Kasunich ------------------------------------------------------------------------------ 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
