Hello, folks! Genserkins.c says that "Currently the type of the joints is hardcoded to ANGULAR". I would appreciate, if anyone could share some advice, how the linear joint could be implemented. My need is to move small robot arm along 3000 mm long linear slide in implementation of robotic MIG welder. My initial design contains 5 joints: 1) linear joint, along which the whole arm will move: 2) "shoulder up/down"; 3) "elbow up/down"; 4) "wrist rotate"; 5) "wrist up/down".
They are supposed to be serially linked in the exact order as I wrote them. So my main question is - how can linear joint be introduced here? I feel that hardcoding that only joint_0 (first joint in the series) is linear would satisfy vast majority of necessity to combine robotic arms and linear joints. I have another 2 minor questions: 1) I need to control rotary head (because long, round parts will need to be welded along perimeter). Looking at genserkins.c I suspect that A, B and C letters are hardcoded for the arm. It does not matter, what letter, the question is, where exactly in KinematicsForward and KinematicsInverse sections should I paste these lines: pos->u = joint[6] joints[6] = pos->u 2) what do I do about these lines? It is from genserkins.h: 67 #define DEFAULT_A6 0 68 #define DEFAULT_ALPHA6 -PI_2 69 #define DEFAULT_D6 0; The arm is designed to have 5 joints, the 6th joint should a rotary head, so I would like to exclude it from all the calculations of the arm. Thank You in advance! Viesturs ------------------------------------------------------------------------------ Learn how Oracle Real Application Clusters (RAC) One Node allows customers to consolidate database storage, standardize their database environment, and, should the need arise, upgrade to a full multi-node Oracle RAC database without downtime or disruption http://p.sf.net/sfu/oracle-sfdevnl _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
