Andy, In the case of a robot arm you need to send (x, y, z, w, x, y) where w, x, y are rotational orientation.
QUESTION: Can we also send the speeds for each target point (x', y', z', w', x', y'). What about acceleration like x'' ? Correct me, But I think this could be done using LCNC's trivial kinematics if the inverse kinematics is done in the AI-based front end. Then the location and speeds are in the motor's natural units in steps or encoder counts or whatever. Of course, LCNC would move in a straight line but the front end would send the points at something like 20 points per second. On Thu, Nov 18, 2021 at 5:50 AM andy pugh <bodge...@gmail.com> wrote: > On Thu, 18 Nov 2021 at 02:48, Ian Charnas <ian.char...@gmail.com> wrote: > > > I am indeed planning on using computer vision to set targets for the > robot > > arm to move to. > > As a first stage this can be done using only whatever vision system > you use and LinuxCNC. > > It is easy enough to send an "MDI" command to LinuxCNC that will move > the end-point to a specified set of XYZ (BC) coordinates. > But that will be a straight-line move from the current position. > Anything more complex requires a planner, but initially you can ignore > that layer. > > An MDI command such as "F100 G1 X10 Y20 Z30" can be sent to LinuxCNC > in a number of ways, including: > http://linuxcnc.org/docs/2.8/html/man/man1/linuxcncrsh.1.html > or > http://linuxcnc.org/docs/2.8/html/config/python-interface.html > > -- > atp > "A motorcycle is a bicycle with a pandemonium attachment and is > designed for the especial use of mechanical geniuses, daredevils and > lunatics." > — George Fitch, Atlanta Constitution Newspaper, 1912 > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- Chris Albertson Redondo Beach, California _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
