Just a quick info on new robot-related work available in emc2 Git master:
1. genserkins - general kinematics for serial manipulators,
these work for manipulators with up to 8 joints, either rotary or
prismatic, and provide forward and inverse kinematics and jacobian functions.
2. An example using these kins can be found in the new puma560 sample
configuration. (puma/puma560.ini)
3. The sample configuration also includes a vismach model.
So far things seem to be working pretty well, although there are still cases
when the inverseKins doesn't work (for singularities, etc), so my advice so far
would be to run it on a simulator build of emc2 (else it can freeze your PC).
Some screenshots, and the model used for vismach can be found at
http://juve.ro/blog/puma
As a side-note, there is ongoing work on the joints-axes3 branch, which should
sort out the design limitations we have on master right now. (several places
use AXES when they mean Joints, and vice-versa, limits are applied on axes, not
joints, etc). Once that is finished, and merged into master, I expect the
puma-560 to be fully supported by emc2 ;)
Regards,
Alex
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