2012/12/27 Florian Rist <[email protected]>: > >Hi, after we did some on-line control experiments using a LinuxCNC controlled 3+1axis router and a Kuka robot I wonder if I would be possible to get rid of the Kuka controller (hard- and software, servo amps, etc.) and replace it with a LinuxCNC based solution. >
You most certainly can get rid of Kuka controls and get LinuxCNC to control the robot, the question is - how much effort will it take. I agree with Andy about keeping servo amps. I actually think that You should keep as much hardware as You can, as long as You can get it to work with LinuxCNC. The option to throw away any piece of hardware is always available, but getting something useful back might not be that easy/cheap :) > > So I guess LinuxCNC could give me more controll at less cost. What do you > think? > LinuxCNC will certainly give You more freedom to adjust the controls. OTOH I have seen some interesting features in Kuka controller that are not yet available in LinuxCNC (more precisely, I do not know, how to do that in LinuxCNC), for example, for any point-to-point moves user can specify, if that move should be done in cartesian space or in joint space - in cartesian space the trajectory is straight line that connects both points, in joint space joints separately move to their new locations in one interpolated move - this ensures that each joint makes smallest required travel. AFAIK there is no simple way to tell LinuxCNC to do this, as this IMHO would require to change kinematics on fly. And process of teaching the robot the trajectory also has been worked out for those robots, while it would take some effort to make it somewhat equally easy in LinuxCNC. So I would say that LinuxCNC will give You more control on how things are done inside (and this does not guarantee that LinuxCNC will do it better, You simply will have more freedom to adjust different things), but there also are some features that are not yet in LinuxCNC and that might prove useful in certain situations. As usually, the answer to Your question is "it depends..." :) If I understand correctly, the Kuka controls are already working, so it is already there for no additional cost, while implementing LinuxCNC will cost You some materials (probably a PC, wires etc) and _lots_ of time, which could be spent doing other useful things. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Master Visual Studio, SharePoint, SQL, ASP.NET, C# 2012, HTML5, CSS, MVC, Windows 8 Apps, JavaScript and much more. Keep your skills current with LearnDevNow - 3,200 step-by-step video tutorials by Microsoft MVPs and experts. ON SALE this month only -- learn more at: http://p.sf.net/sfu/learnmore_122712 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
