We are currently working on a project to retrofit a 6 DOF industrial robot with LinuxCNC controls. We have communications working over EtherCAT and can use Axis to jog all six axes of the robot. We have tried our hand at setting the D-H parameters for genserkins, with mixed results. The kinematics appear to be at least a little bit off, despite looking correct in numerous kinematics visualizer softwares. For the most part, the robot tends to jog in a straight line, but drift in sort of a curve in at least one direction. Sometimes the kinematics solve to joint angles that are impossible, and the robot faults for "over speed" from trying to go to positions > 10000 degrees.
Thank you for taking the time to read this! If you have any ideas or tips on how we can fix our kinematic model, it would be greatly appreciated. Thanks, Alyssa ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
