On Wed, Jan 12, 2011 at 4:35 PM, Stephen Wille Padnos <spad...@sover.net>wrote:
> 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 :) > > Uh (palm slap to the forehead) - no :-( how does an emoticon egg on my face? > - 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 > -- dos centavos ------------------------------------------------------------------------------ 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
