Oh my. A brave one ;) Jan, I'm really happy to hear that. It would be even nicer if you had some pics/videos of it.
Regarding the joint/axes speed/accel limitations we started a branch to fix up the code. Micges picked up what I did there, and extended it to a point where it started to work (at least jogging works, and coordinated moves work, but vel/accel limits aren't really done properly). We're still thinking how to do that, so maybe if you have some insight you could come up with an idea. Regards, Alex ----- Original Message ----- From: "Jan Van Gilsen" <janvangil...@gmail.com> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> Sent: Monday, July 26, 2010 8:40 PM Subject: Re: [Emc-users] OT: Fwd Kinematics Equation > Alex, > Your code has successfully driven my (not simulated) Puma560, > I'm having problems with the speed/accel. limitations (as they are axis > limits, not joint limits) > The only solution I have a.t.m. is to reduce the overall speed so no joint > limits are reached (works if no singularities come to close) > > Regards, Jan > > On Fri, Jul 23, 2010 at 19:04, Alex Joni <alex.j...@robcon.ro> wrote: > >> This is "easily" handled by genserkins. >> genserkins = general serial kinematics (e.g. kins where each joint is >> serially connected to the previous one). >> >> PS: bear in mind that I added genserkins recently to emc2 and that it >> hasn't driven a physical robot yet (afaik). so there can be bugs (or >> dragons or whatnot). ------------------------------------------------------------------------------ The Palm PDK Hot Apps Program offers developers who use the Plug-In Development Kit to bring their C/C++ apps to Palm for a share of $1 Million in cash or HP Products. Visit us here for more details: http://ad.doubleclick.net/clk;226879339;13503038;l? http://clk.atdmt.com/CRS/go/247765532/direct/01/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
