I understand Cartesian and Polar coordinate systems. I'm looking for the actual method of deriving the commands that need to be sent to the motor (assuming the motor shaft is the axis of rotation for the arm segment under discussion).
Example: you want to move the tip of the mill in a vertical line parallel to the Z axis. How do you take the description of that line (motion from the Cartesian point <a,b,c1> to point <a,b,c2) and calculate (ow!) or use software to generate the commands to be sent to the (3, I'm guessing)motors? And back to the original question, are those joints designated by one of the xyzabcuvw designations, or is there a completely different designation system. Is there a robotics textbook out there that anyone can recommend? I've found that out of date textbooks can be gotten for very little and are a wealth of information. Raymond Julian Kettle River, MN The things we admire in men, kindness and generosity, openness, honesty, understanding and feeling are the concomitants of failure in our system. And those traits we detest, sharpness, greed, acquisitiveness, meanness, egotism and self-interest are the traits of success. And while men admire the quality of the first they love the produce of the second. -John Steinbeck, novelist, Nobel laureate (1902-1968) On 05/14/2014 07:40 PM, Stuart Stevenson wrote: > Joint space is the physical movement of the machine components. > Cartesian space perfect theoretical XYZ space sitting on the machine table > It is the desired path of the tool (end effector). > With a robot you can move the joints but a single joint movement likely > would not give you the tool motion you were trying to achieve. > On a 3 axis mill you can have the same effect if the X and Y axes are not > square with one another. > Let's say you move the X axis only: > in joint space only the X axis moves and if the X and Y are not square you > would cut a corner that would not be 90 degrees. > On the same machine cartesian space X motion would also see the Y move to > compensate for the squareness problem. > In other words your Cartesian space would be square (as assumed) but your > joint space is not square. > This compensation would have required you to input correction amounts in > the kinematics to describe to the control the out of square condition. > Kinematics is the mathematical description of the joint space converted to > cartesian space. > as Sam said - clear as mud > > > > On Wed, May 14, 2014 at 6:57 PM, rayj <raymo...@frontiernet.net> wrote: > >> >> >> Raymond Julian >> Kettle River, MN >> >> The things we admire in men, kindness and generosity, openness, honesty, >> understanding and feeling are the concomitants of failure in our system. >> And those traits we detest, sharpness, greed, acquisitiveness, meanness, >> egotism and self-interest are the traits of success. And while men >> admire the quality of the first they love the produce of the second. >> -John Steinbeck, novelist, Nobel laureate (1902-1968) >> >> On 05/14/2014 06:43 PM, andy pugh wrote: >>> On 15 May 2014 00:17, rayj <raymo...@frontiernet.net> wrote: >>> >>>> Is there a similar standard in the control of robotic arms? >>> >>> It is the same there. (Or it can be). >>> >>> XYZ is end-effector point in space (room coordinates). >>> ABC are end-effector angles >>> UVW (could) be ways to define moves in end-effector space. >>> >>> But that rather depends on if you are moving the robot in cartesian >>> space or joint space. >>> >> >> There's what I'm trying to learn. I'd never heard of joint space! Does >> this stuff fall under the category of "robotics" or "kinematics", or what? >> >> >> ------------------------------------------------------------------------------ >> "Accelerate Dev Cycles with Automated Cross-Browser Testing - For FREE >> Instantly run your Selenium tests across 300+ browser/OS combos. >> Get unparalleled scalability from the best Selenium testing platform >> available >> Simple to use. Nothing to install. Get started now for free." >> http://p.sf.net/sfu/SauceLabs >> _______________________________________________ >> Emc-users mailing list >> Emc-users@lists.sourceforge.net >> https://lists.sourceforge.net/lists/listinfo/emc-users >> > > > ------------------------------------------------------------------------------ "Accelerate Dev Cycles with Automated Cross-Browser Testing - For FREE Instantly run your Selenium tests across 300+ browser/OS combos. Get unparalleled scalability from the best Selenium testing platform available Simple to use. Nothing to install. Get started now for free." http://p.sf.net/sfu/SauceLabs _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
