Re: [Machinekit] world mode in machienkit
Check your CPU load and the time spent in each HAL module (it shows up as a HAL signal). I'm not sure the BBB has enough FPU performance to handle some of the non-trivial kinematics setups. You may need to craft a higher performance solution based on your specific machine or migrate to a more powerful platform (X15 or maybe an x86). All the work I've done with "serious" non-trivial kinematics (ie: genserkins vs. something like a delta-arm 3D printer) has been on an x86, which has *LOTS* more CPU power than a BBB. On 8/28/2017 9:15 PM, thangle wrote: > i just have one more question, why everytime i change to world mode in > puma560 sim to jog or use MDI, the BBB become very lag and freeze. > > Vào 18:25:48 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles Steinkuehler > đã viết: >> >> On 8/26/2017 12:20 AM, thangle wrote: >>> thank for answers, they are really helpful >>> >>> Vào 03:20:16 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles >> Steinkuehler >>> đã viết: On 8/24/2017 9:28 PM, thangle wrote: > I have some problems when i try configuring custom arm robot 6DOF. >> hope > someone can help me resolve these. > > 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. > everytime i turn it on by "Alt+M" it return joint mode. if anyway to >> use > "world mode" in manual control >>> what should i do after home all joints, do i need to change somethings >> in >>> .hal file? I dont have a real machine yet, just beaglebone black but i >> want >>> to simulator them first >> >> IIRC, after executing "home all", the Axis GUI will switch to world >> mode automatically. If it doesn't, there is a menu item to toggle >> between joint and world mode. >> >> -- >> Charles Steinkuehler >> cha...@steinkuehler.net >> > -- Charles Steinkuehler char...@steinkuehler.net -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
Re: [Machinekit] world mode in machienkit
i just have one more question, why everytime i change to world mode in puma560 sim to jog or use MDI, the BBB become very lag and freeze. Vào 18:25:48 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles Steinkuehler đã viết: > > On 8/26/2017 12:20 AM, thangle wrote: > > thank for answers, they are really helpful > > > > Vào 03:20:16 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles > Steinkuehler > > đã viết: > >> > >> On 8/24/2017 9:28 PM, thangle wrote: > >>> I have some problems when i try configuring custom arm robot 6DOF. > hope > >>> someone can help me resolve these. > >>> > >>> 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. > >>> everytime i turn it on by "Alt+M" it return joint mode. if anyway to > use > >>> "world mode" in manual control > >> > >> > > what should i do after home all joints, do i need to change somethings > in > > .hal file? I dont have a real machine yet, just beaglebone black but i > want > > to simulator them first > > IIRC, after executing "home all", the Axis GUI will switch to world > mode automatically. If it doesn't, there is a menu item to toggle > between joint and world mode. > > -- > Charles Steinkuehler > cha...@steinkuehler.net > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
Re: [Machinekit] world mode in machienkit
i found that, thank for your help Vào 18:25:48 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles Steinkuehler đã viết: > > On 8/26/2017 12:20 AM, thangle wrote: > > thank for answers, they are really helpful > > > > Vào 03:20:16 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles > Steinkuehler > > đã viết: > >> > >> On 8/24/2017 9:28 PM, thangle wrote: > >>> I have some problems when i try configuring custom arm robot 6DOF. > hope > >>> someone can help me resolve these. > >>> > >>> 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. > >>> everytime i turn it on by "Alt+M" it return joint mode. if anyway to > use > >>> "world mode" in manual control > >> > >> > > what should i do after home all joints, do i need to change somethings > in > > .hal file? I dont have a real machine yet, just beaglebone black but i > want > > to simulator them first > > IIRC, after executing "home all", the Axis GUI will switch to world > mode automatically. If it doesn't, there is a menu item to toggle > between joint and world mode. > > -- > Charles Steinkuehler > cha...@steinkuehler.net > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
Re: [Machinekit] world mode in machienkit
On 8/26/2017 12:20 AM, thangle wrote: > thank for answers, they are really helpful > > Vào 03:20:16 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles Steinkuehler > đã viết: >> >> On 8/24/2017 9:28 PM, thangle wrote: >>> I have some problems when i try configuring custom arm robot 6DOF. hope >>> someone can help me resolve these. >>> >>> 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. >>> everytime i turn it on by "Alt+M" it return joint mode. if anyway to use >>> "world mode" in manual control >> >> > what should i do after home all joints, do i need to change somethings in > .hal file? I dont have a real machine yet, just beaglebone black but i want > to simulator them first IIRC, after executing "home all", the Axis GUI will switch to world mode automatically. If it doesn't, there is a menu item to toggle between joint and world mode. -- Charles Steinkuehler char...@steinkuehler.net -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
Re: [Machinekit] world mode in machienkit
thank for answers, they are really helpful Vào 03:20:16 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles Steinkuehler đã viết: > > On 8/24/2017 9:28 PM, thangle wrote: > > I have some problems when i try configuring custom arm robot 6DOF. hope > > someone can help me resolve these. > > > > 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. > > everytime i turn it on by "Alt+M" it return joint mode. if anyway to use > > "world mode" in manual control > > what should i do after home all joints, do i need to change somethings in .hal file? I dont have a real machine yet, just beaglebone black but i want to simulator them first > You have to home all the joints and get the machine to a known > position before you can switch from joint mode to world mode. > > > > 2nd: i used genserkins to configure a new custom arm robot and compare > to > > the one i configure in matlab. They are difference about coordinate, > look > > like the origin coordinate was rotated. i think the one from genserkins > is > > incorrect > > yes it worked correct after i had modified DH parameter > Note that the genserkins module uses "modified" DH parameters and > likely does not match your matlab simulation: > > > https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/genserkins.c#L20-L25 > > > > https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters > > > -- > Charles Steinkuehler > cha...@steinkuehler.net > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
Re: [Machinekit] world mode in machienkit
On 8/24/2017 9:28 PM, thangle wrote: > I have some problems when i try configuring custom arm robot 6DOF. hope > someone can help me resolve these. > > 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. > everytime i turn it on by "Alt+M" it return joint mode. if anyway to use > "world mode" in manual control You have to home all the joints and get the machine to a known position before you can switch from joint mode to world mode. > 2nd: i used genserkins to configure a new custom arm robot and compare to > the one i configure in matlab. They are difference about coordinate, look > like the origin coordinate was rotated. i think the one from genserkins is > incorrect Note that the genserkins module uses "modified" DH parameters and likely does not match your matlab simulation: https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/genserkins.c#L20-L25 https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters -- Charles Steinkuehler char...@steinkuehler.net -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
[Machinekit] world mode in machienkit
I have some problems when i try configuring custom arm robot 6DOF. hope someone can help me resolve these. 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. everytime i turn it on by "Alt+M" it return joint mode. if anyway to use "world mode" in manual control 2nd: i used genserkins to configure a new custom arm robot and compare to the one i configure in matlab. They are difference about coordinate, look like the origin coordinate was rotated. i think the one from genserkins is incorrect -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
