Hello!
I am working on a custom kinematics module for plasma machine and I
have a question:
I have it set to do both - inverse and forward kinematics calculations
with this:
KINEMATICS_TYPE kinematicsType()
{
return KINEMATICS_BOTH;
}
The thing is that I am using pos->a (because I want that angle to be
definable in g-code) in calculating positons of 2 rotary joints, and I
am out of ideas, how to get back to pos->a from the values of both
joints - verifyng my formulas in spreadsheet returns something
different from the initial numbers.
So my big question is: what is going to happen, if I keep
KINEMATICS_BOTH, but completely exclude pos->a from forward kinematics
and use it only in inverse kinematics to get initial data? Am I going
into trouble of receiving following errors as LinuxCNC will try to do
forward kins for all the joints, defined in INI file and will not find
anything for pos->a?
I have been using also this option:
KINEMATICS_TYPE kinematicsType()
{
return KINEMATICS_IDENTITY;
}
The bonus is that on gantry machines user cannot switch to joint mode
and accidentally jog only one side of gantry.
Actually this is also in trivkins module!
My secondary question is - how can this affect use of machines with
non-trivial kinematics? Except that there is no way to get into joint
mode and jog separate joints (which might be useful, when something
has gone wrong).
Or should I install 2 kinematic modules: one with KINEMATICS_IDENTITY,
the other with KINEMATICS_BOTH and with some difference in names so
that it is easier to distinguish and then there is a chance to switch
them by commenting/uncommenting particular line in HAL file.
--
Viesturs
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto
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