On 5/23/2011 11:57 AM, Viesturs Lācis wrote: > 2011/5/23 Kent A. Reed<[email protected]>: >> > >> > I used your list of serial-kinematics requirements (email message >> > 2011/1/4) > I looked in the sent messages and there were no e-mails sent to EMC > list in either January 4th or April 1st :)) >
And here I thought I was being international by writing the date in Year/Month/Day format! The message I referred to is > 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: > <...> > > Thank You in advance! > > Viesturs My mail archive says this message included a header Date: Tue, 4 Jan 2011 20:30:01 +0200" No matter. Your requirement 1) is my "base" moving linearly on the track. Your requirement 2) is my "upper arm" rotating about a transverse pin in the "base" Your requirement 3) is my "lower arm" rotating about a transverse pin in the "upper arm" Your requirement 4) is my "wrist" rotating about a longitudinal pin in the "lower arm" Your requirement 5) is my "tool holder" rotating about a transverse pin in the "wrist" It's not that far from one of the sketches I made for my chess player. Truthfully, I hadn't intended to use EMC2 in controlling my arm, but your posts about the problems you are having with yours have got me thinking that this is a perfect opportunity to understand EMC2 kinematics. Thanks for the poking ;-) Regards, Kent ------------------------------------------------------------------------------ What Every C/C++ and Fortran developer Should Know! Read this article and learn how Intel has extended the reach of its next-generation tools to help Windows* and Linux* C/C++ and Fortran developers boost performance applications - including clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
