2011/11/17 Francesca Sca <fancy_...@yahoo.it>: > Viesturs wrote: > > >>Genserkins will treat C as a rotary axis. It is binded into all those >>matrix conversions, jacobian functions and other stuff that I do not >>fully understand. >>IMHO, if You want to control the gripper, it should be anything but XYZABC. >>I agree with Andrew that adding U, V or W might be the way to go. On >>the other hand, adding that to genserkins does not seem very easy (at >>least for me). > > > I have read a post of Alex Joni (the developer of genserkins) where he said > that this module works at least 6 axis. If the machine has fewer, I need to > set the others as dummy. So the solution could be using genserkins for 5 axis > and 1 dummy and then add another axis for to realize the opening and the > closing of the fingers. Could be correct? Can I realize this? Any suggestion > or help?
Yes, that is correct. Genserkins does calcs for 6 joints. If the actual robot has fewer, then dummy joints need to be defined to make up 6 joints for genserkins. If You need some extra joint, then it has to be added separately. What I understand from genserkins, it is coded for 6 joints, so the 7th joint has to be added in genserkins code and that is why I feel it not to be easy task. You did not answer, how You want to operate the gripper (just open/close or control, how much and how fast does it grab), so it is hard to tell, if that can be done in HAL. Sorry, I cannot help with genserkins, because I myself need help with the genserkins :)) Viesturs ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity, and more. Splunk takes this data and makes sense of it. IT sense. And common sense. http://p.sf.net/sfu/splunk-novd2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
