andy pugh wrote: > ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0) >Looking at the source-code that error indicates that the inversion of >the matrix has failed. >It might mean that your DH parameters are in some way inconsistent, or >possibly just that the motor position is ambiguous.
>Is that the actual error message? All those "%f" entries should be >printing out as joint positions. I don't resolve my problem yet! :( I thought that this error ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0) could be mean that I didn't set the number of iterations that were used to compute the inverse kinematics. The genserkins module request a pin for this. It is correct? How I can set this? " from genserkins.h and genserkins.c: TODO: * make number of joints a loadtime parameter * add HAL pins for all settable parameters, including joint type: ANGULAR / LINEAR * add HAL pins for debug data (num_iterations) * add HAL pins for ULAPI compiled version hal_s32_t iterations; /*!< How many iterations were actually used to compute the inverse kinematics. */ hal_s32_t max_iterations; /*!< Number of iterations after which to give up and report an error. */ " ------------------------------------------------------------------------------ RSA(R) Conference 2012 Save $700 by Nov 18 Register now http://p.sf.net/sfu/rsa-sfdev2dev1 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
