hi emc users, I request your help for my kinematic setup we have tried to set up our arm robot which is very similar to Puma 560 Our problem is we extracted the D-H parameters but we don´t know how this parameters could be entering and what is the correct file. When we use pumakins only can define the following parameters.
#setp pumakins.A2 #setp pumakins.A3 #setp pumakins.D3 #setp pumakins.D4 #setp pumakins.D6 But we need to define the others like in genserkins.¿Should we use genserkins? another thing is when we do changes in genserkins.h file for entering the values of D-H parameters, we are denting the file when we compile. so, how can we enter those values to genserkins? is it only to remplace or there is some else? We saw one .hal file where the parameters were uploading there like this: loadusr -W pumagui setp genserkins.A-0 0 setp genserkins.A-1 0 setp genserkins.A-2 7.47 setp genserkins.A-3 0 setp genserkins.A-4 0 setp genserkins.A-5 0 setp genserkins.ALPHA-0 0 setp genserkins.ALPHA-1 1.570796326 setp genserkins.ALPHA-2 0 setp genserkins.ALPHA-3 1.570796326 setp genserkins.ALPHA-4 -1.570796326 setp genserkins.ALPHA-5 1.570796326 setp genserkins.D-0 9.38 setp genserkins.D-1 0 setp genserkins.D-2 0 setp genserkins.D-3 7.47 setp genserkins.D-4 0 setp genserkins.D-5 0.8 loadrt scale count=6 addf scale.0 servo-thread addf scale.1 servo-thread addf scale.2 servo-thread addf scale.3 servo-thread addf scale.4 servo-thread addf scale.5 servo-thread linksp xpos-cmd scale.0.in linksp ypos-cmd scale.1.in linksp zpos-cmd scale.2.in linksp apos-cmd scale.3.in linksp bpos-cmd scale.4.in linksp cpos-cmd scale.5.in setp scale.0.gain 1 setp scale.1.gain 1 setp scale.2.gain 1 setp scale.3.gain 1 setp scale.4.gain 1 setp scale.5.gain 1 net J0scaled scale.0.out pumagui.joint4 net J1scaled scale.1.out pumagui.joint3 net J2scaled scale.2.out pumagui.joint6 net J3scaled scale.3.out pumagui.joint1 net J4scaled scale.4.out pumagui.joint2 net J5scaled scale.5.out pumagui.joint5 #net j0 axis.0.joint-pos-fb pumagui.joint4 #net j1 axis.1.joint-pos-fb pumagui.joint3 #net j2 axis.2.joint-pos-fb pumagui.joint6 #net j3 axis.3.joint-pos-fb pumagui.joint1 #net j4 axis.4.joint-pos-fb pumagui.joint2 #net j5 axis.5.joint-pos-fb pumagui.joint5 #net j6 axis.6.joint-pos-fb pumagui.grip i would like to know what the units for those parameters are? mm? in? cm? an for alfa? thank you I hope your anwers _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
