2011/1/5 Jack Coats <j...@coats.org>: > You might look at the kinematics for a SCADA arm for some hints, it is > a very rudimentary version of what you are doing. >
Nope, scarakins uses very simple calculations with sin and cos functions. It seems to me that from mathematics point of view scarakins and genserkins are very far away from each other. Genserkins uses _much_ more advanced mathematics that I do not yet understand with jacobian functions, velocity and a lot of other matrices. The torch of MIG welder will be attached at the end of the arm with some offset between the tip of the torch and the point, where it is attached to the arm. So my problem is understanding, how to change joint_0 from angular to linear and thus change the way, how the compensating moves for X axis (along which the linear joint will move) are calculated. I would _really_ appreciate, if anyone of developers or users with more experience in kinematics could share their advice! 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
