On 5 January 2011 08:27, Viesturs Lācis <viesturs.la...@gmail.com> wrote:
> I would _really_ appreciate, if anyone of developers or users with > more experience in kinematics could share their advice! Adding a single translational joint that is parallel to an axis is very simple. Generalising Serialkins to allow prismatic joints in any orientation is significantly less so. Currently I think that serialkins uses Denavit Hartenberg parameters to solve the kinematics. The d, r and <alpha> values of each joint are fixed parameters, and the <theta> value is a pin corresponding to joint position. Generalising to prismatic joints might be as simple as making the d parameter into a pin, and then choosing whether to link the <theta> or d pin to the joint position in HAL. However, I suspect it might be a lot more difficult than this. For your purposes you can probably just add the joint position to the X value, and subtract in the inverse kins. -- atp "Torque wrenches are for the obedience of fools and the guidance of wise men" ------------------------------------------------------------------------------ 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
