On 18 November 2011 10:51, Francesca Sca <[email protected]> wrote:
>>I think that the easiest solution might be to use M67 to send position
>>commands out of the G-code to a HAL pin, and link that direct to a
>>stepgen in HAL.
>
> I have the version 2.4.6. This could be a problem with that command?
Yes, it doesn't work in 2.4, but has been fixed in 2.5.
>>Alternatively, it is probably possible to modify genserkins to
>>pass-through UV and W in the same way as trivkins does. (line 357
>>onwards for forward kins, I can't immediately see where to do it for
>>inverse kins)
>
> You mean that for example if I want to exclude the axis C from genserkins I
> should change this line:
>
> world->c = rpy.y * 180 / PM_PI to world->u = rpy.y * 180 / PM_PI
> ( and so for every line where C appears!)
No, I think that might be a bad idea. C is part of the end-pose of the
arm, and I would hesitate to interfere with it.
What I was suggesting was adding:
world->u = joint[6];
world->v = joint[7];
world->w = joint[8];
In the forward kins, and
joint[6] = world->u;
joint[7] = world->v;
joint[8] = world->w;
In the inverse kins. and then controlling the gripper with U, V or W
in the G-code and linking that motor to axis.{6/7/8}.motor-pos-cmd in
the HAL.
I don't know for sure that this would work, and it means that you cant
have a robot with more than 6 "elbows"
--
atp
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