Stuart Stevenson wrote:
> I have to move the finger and hand axes while the wrist axis moves to be
> able maintain orientation.
> I tried this without the multiple subtraction line but was unable to hold
> the hand orientation while the wrist moved.
>
Hmmm, so joints 4 and 5 (starting at 0) both need to have joint 3
subtracted? The code I wrote can't do that. It would be possible to
make another parameter that tells which joint to unrotate by. Something
like base_joint. This would be a parameter ranging from 0 to (number of
joints-1). The code would then be something like:
if ((unrotate logic) && (base_joint<link_num) && (base_joint!= this_joint))
joints[this_joint].theta-=joints[joints[this_joint].base_joint].theta *
joints[this_joint].unrotate;
(or so :) )
> (this is my main problem)
> I could not cause any change in robot motion no matter what I did to the
> kinematics file. It seems as if I am not using the correct
> kinematics/directory. If I could see some effect I could work with this to
> get what I want.
>
Are you testing after homing and going into world mode? I spent some
time wondering why my code wasn't getting executed, before I figured out
that I had to test in the right mode :)
- Steve
------------------------------------------------------------------------------
Protect Your Site and Customers from Malware Attacks
Learn about various malware tactics and how to avoid them. Understand
malware threats, the impact they can have on your business, and how you
can protect your company and customers by using code signing.
http://p.sf.net/sfu/oracle-sfdevnl
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
