> Re: [Emc-users] PUMA reverse kinematics
> From: Chris Radek <[EMAIL PROTECTED]> - 2007-08-04 03:17
> On Fri, Aug 03, 2007 at 10:32:21PM -0300, christopherpurcell wrote:
> > I have a prototype puma robot in my living room, mostly to amaze
> > visiting teenagers who think they have seen it all. It makes scary
> > noises and moves nicely with EMC2 but now I am ready for some PUMA
> > reverse kinematics so I can put this work. Has anyone done this
> already?
> > The EMC2 docs mention PUMA robots but I have not found any
> > ready to use examples of configuration files. The PUMA
> > OPENGL simulation from
> >
> http://jmkasunich.dyndns.org/cgi-bin/blosxom/software/simulated-machine-02-04-07.html
> > is mesmerizing but it seems to have just the forward kinematics in
> its
> > code.
> > --
>
> That PUMA demo is hooked up to EMC, you can get the CVS trunk version
> and run the included puma configuration.
>
> The kinematics (forward and inverse) are
>
> http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/pumakins.c?rev=1.4
>
> I'm not sure how well they are working right now, let us know what
> you find.
>
> From: Chris Radek <[EMAIL PROTECTED]> - 2007-08-04 03:17
> Chris
>
I was able to build the CVS trunk version of EMC as you suggested, after
installing a few missing ubuntu development tools. The EMC trunk demo of
the PUMA robot starts up, and displays a static image of the PUMA in a
TK window. The puma.ini file is looking for
gamepad.hal
which I can't find in the EMC trunk components. Commenting that line out
does not help. What is in gamepad.hal?
Chris Purcell
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