On 12/13/13 07:42 , Marius Alksnys wrote: > 6 axis articulated robot. Its 5th and 6th joint motion is transferred > from servo motor to the end by belts. Controlling 1-5 joints is trivial, > but 6th one has to be offset by 5th position. > > This means you have to rotate both 5th and 6th motors equally to move > only 5th joint. > > ( BTW, this is the reason why I started to think that there could be > three different objects / levels in linuxcnc: motor - joint - axis )
Currently "motor" and "joint" are nearly the same. A joint is just a motor with a home offset applied to it. This is the robot i'm playing with: http://highlab.com/~seb/linuxcnc/scorbot-er-3/1024131507a.jpg It's got a differential drive on the wrist. The wrist has two motors and two degrees of freedom (pitch and roll). There's a good picture on page 2-1 of the manual here: http://highlab.com/~seb/linuxcnc/scorbot-er-3/ER3-Manual.pdf Each of the two wrist motors causes hand motion in both pitch and roll. By running the wrist motors in a coordinated way you can effect just pitch, or just roll, or any combination. This coordination between the two wrist motors will be handled by kinematics. Below kinematics, at the joint level, the two wrist joints home independently (though maybe simultaneously). I just got the control box hooked up to LinuxCNC (non-realtime via RS-232, boo), kinematics comes next... :-) -- Sebastian Kuzminsky ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
