On 2 December 2011 11:21, Francesca Sca <[email protected]> wrote: > http://mecatronicaeajm.blogspot.com/2010_05_01_archive.html > > For the roll of the wirst, the two side gears must move in opposite direction > and this is realized by the moviment of two motors. For the "pitch" just the > moviment of a motor and thus a lateral gear plus frontal gear.
Hmm, yes. I see the problem. It's quite a neat mechanism, you turn both gears the same direction for up-down and in different directions for rotate. The solution is probably to abstract the two movements into basic angles as far as the DH parameters go, so that you have an elevation and a rotation angle as numbers in the joint.N.pos-cmd pins, then do some mathematics in HAL to convert those to stepgen positions using some simple maths in HAL. I think that stepgen.4 needs to be joint.4 - joint.5 and stepgen.5 needs to be joint.5 - joint.4 (or something a bit like that anyway) There is no subtraction in HAL, you need to sum and scale by -1 I think. It might be simpler to write a very simple custom HAL component that takes the two angle values and converts them into two motor positions. (like a very small 2-axis kinematics file). Alternatively, as the Armdroid is very simple, perhaps genserkins is overkill, and it would be simpler to modify pumakins to match your robot? -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. ------------------------------------------------------------------------------ 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 [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
