Sven Wesley wrote: > Now when we talk robots, I asked Alex Joni about the kinematics for > controlling a robot like a XYZ-machine. I want to use a robot to run normal > 3 axis G-code and then let EMC2 handle the kinematics for all the joints. > Alex said it should work if I have a kinematics module that handle it. > Anyone did this before? > Yes, EMC2 definitely can do this. There is a general robot kinematics file. You have to measure the length of the arms between joints and put that into the program, so the transform matrices are built correctly. You also have to establish the alignment to each joint's home position. In EMC's sample-configs directory, you will find a puma sub-directory. It calls in the kinematics file "pumakins".
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