Re: [Emc-users] Problem with genserkins

2017-03-02 21:47 GMT+02:00 Charles Steinkuehler: > Thanks for the hints, it would have taken me quite a while to figure > all that out. Now I'll start plugging in numbers and toggling between > world and joint coordinates to see what's happening. > Well, I think I missed the fact that

Re: [Emc-users] Problem with genserkins

On 3/2/2017 1:26 PM, Andrew wrote: > What this means for genserkins: everything is defined in genser_kin_fwd. > Tweaking it will tweak both forward and inverse kins. > > OK, first it uses go_link_joint_set for each joint and then > go_link_pose_build to get the robot pose... which uses

Re: [Emc-users] Problem with genserkins

2017-03-02 18:01 GMT+02:00 Charles Steinkuehler: > Hmm...I see your point, but commanding an AB orientation in world > space via gcode would then require knowing the position of the first > joint (the base rotation of the whole arm), which is generated from > the commanded position via

Re: [Emc-users] Problem with genserkins

On 3/1/2017 12:09 PM, Andrew wrote: > 2017-02-25 23:46 GMT+02:00 Charles Steinkuehler: > >> Is anyone else doing 5-axis machining with genserkins? >> > > Not exactly machining... but I'm building a 3D printed stepper driven > 6-axis robot arm. So I hope that I'm going to need genserkins soon. >

Re: [Emc-users] Problem with genserkins

2017-02-25 23:46 GMT+02:00 Charles Steinkuehler: > Is anyone else doing 5-axis machining with genserkins? > Not exactly machining... but I'm building a 3D printed stepper driven 6-axis robot arm. So I hope that I'm going to need genserkins soon. The AB behavior you describe (if I get it

Re: [Emc-users] Problem with genserkins

The kinematics in the control have very little or nothing to do with the code interpretation. It is only used to tie the machine components together with the control. The kinematics in the post processor (CAM System) have very little or nothing to do with the control nor the kinematics in the

Re: [Emc-users] Problem with genserkins

i think... On 03/01/17 09:16, Charles Steinkuehler wrote: > On 2/28/2017 5:52 PM, andy pugh wrote: >> On 26 February 2017 at 22:46, Charles Steinkuehler >> wrote: >>> The A and B Axis has no >>> dependency on the rotation of the base of the robot arm (joint-0). >>> >>>

Re: [Emc-users] Problem with genserkins

Maybe I can help a little on this subject. In 5-axis machining the 4th and 5th axes are controlled in coordinated moves with the x, y, and z axes. For both configurations, tilting and rotating spindle or tilting and rotating tables, the CAM program must create the correct GCODE for all the axes

Re: [Emc-users] Problem with genserkins

On 1 March 2017 at 02:16, Charles Steinkuehler wrote: > > Perhaps a different way of asking my question: > > Given two types of 5-axis machine, one with A and B pivots on the > spindle, and one with A and B pivots on the table, would identical > gcode be expected to

Re: [Emc-users] Problem with genserkins

The method used to generate the gcode program almost always needs to have knowledge of the kinematics and use that knowledge to calculate the numbers in the gcode program. On Feb 28, 2017 8:20 PM, "Charles Steinkuehler" wrote: > On 2/28/2017 5:52 PM, andy pugh wrote: >

Re: [Emc-users] Problem with genserkins

On 2/28/2017 5:52 PM, andy pugh wrote: > On 26 February 2017 at 22:46, Charles Steinkuehler > wrote: >> The A and B Axis has no >> dependency on the rotation of the base of the robot arm (joint-0). >> >> Is this the expected behavior? > > I don't know. > > I did notice

Re: [Emc-users] Problem with genserkins

On 26 February 2017 at 22:46, Charles Steinkuehler wrote: > The A and B Axis has no > dependency on the rotation of the base of the robot arm (joint-0). > > Is this the expected behavior? I don't know. I did notice that the C axis value changes when you rotate the

Re: [Emc-users] Problem with genserkins

On 2/25/2017 3:46 PM, Charles Steinkuehler wrote: > > Further investigation shows that the A and B coordinates are being > applied to something relative to the end of the robot arm. Regardless > of the XYZ position of the arm, A and B moves always do the same thing > relative to the robot arm.

[Emc-users] Problem with genserkins

I am having some issues with genserkins running a robot arm (this is the ST R-17 I brought with me to Wichita running LinuxCNC with joints-axis running on Debian Wheezy with RTAI). Coordinated moves in XYZ seem to work as expected. All the joints working together to keep the end of the arm

Re: [Emc-users] problem with genserkins

andy pugh wrote: It may be that the joint lengths in the DH parameters are slightly wrong. It is less likely to be the stepgen scales, but that would have a similar effect. I checked the d-h parameters many many times and they should be correct. Also if I don't understand why in world mode the

Re: [Emc-users] problem with genserkins

On 6 December 2011 12:48, Francesca Sca fancy_...@yahoo.it wrote: I checked the d-h parameters many many times and they should be correct. I might still be tempted to tune them. (ie, forget the science, just make small changes and see what happens). How far out are the distances? Also if I

Re: [Emc-users] problem with genserkins

Andy pugh wrote: I might still be tempted to tune them. (ie, forget the science, just make small changes and see what happens). How far out are the distances? The distances are far5 or 6 cm more on z and 4 or 5 cm less on x and y!! And then the movement aren't linearfor example the

Re: [Emc-users] problem with genserkins

Andy pugh wrote: I think the HAL will work, I don't know if the function of that code is correct. If it doesn't work, then what it needs is some of the signals inverting (scale by -1) before going in to the offset function. I set the offset function like you have suggested me and I tried

Re: [Emc-users] problem with genserkins

On 5 December 2011 09:38, Francesca Sca fancy_...@yahoo.it wrote: I set the offset function like you have suggested me and I tried every combinations of signals (parport.0.pin-X-out-invert) but I have always 2 rotation or 2 elevation and ever 1 rotation and 1 elevation. I tried also to set

Re: [Emc-users] problem with genserkins

Andy pugh wrote: The problem is that I didn't explain properly. I was meaning that you might need to pass one or both the position signals though a HAL scale function with a value of -1 to get the required effect (this means that the offset becomes subtract rather than add)

Re: [Emc-users] problem with genserkins

Andy pugh wrote:   How I should write the commands and then link to the function offset? Just like any other HAL function, loadrt / addf / net. http://www.linuxcnc.org/docview/html/hal_basic_hal.html ok I tried with these lines for see what happen: loadrt scale count=1 loadrt offset count=2

Re: [Emc-users] problem with genserkins

On 5 December 2011 13:51, Francesca Sca fancy_...@yahoo.it wrote: add scale.0 servo-thread addf net elevation axis.4.motor-pos-cmd = scale.0.in net scal scale.0.out = offset.0.in offset.1.offset That has the same effect as inverting axis.4. I think you need to break the symmetry, so net

Re: [Emc-users] problem with genserkins

You might need two scale functions, then, combined with inverting the stepper directions you have 16 combinations to play with. One of them ought to work :-) I have changed the command how you suggest me and I have got what I wanted with the first combination!! I'm very lucky!!! :p I would

Re: [Emc-users] problem with genserkins

On 5 December 2011 14:34, Francesca Sca fancy_...@yahoo.it wrote: I would like to ask you some help with the my last problem. When I use the world mode (inverse kinematics) my robot isn't accurate. For example if I write G01 z100, the robot doesn't move 100mm on z but every time more mm. The

Re: [Emc-users] problem with genserkins

Andy pugh wrote: I think that needs a custom HAL component, using comp. Part of the problem is that you need to get the feedback back the other way. It is just possible that you might be able to do it all with two offset functions:  http://www.linuxcnc.org/docview/html/man/man9/offset.9.html

Re: [Emc-users] problem with genserkins

On 3 December 2011 12:40, Francesca Sca fancy_...@yahoo.it wrote: loadrt offset count=2 So, I should just add these command to my file .hal? Right? Or I should compilate a particular module? That is something to try in the HAL file. It sounds like you are not 100% familiar with HAL yet, and

Re: [Emc-users] problem with genserkins

2011/12/3 Francesca Sca fancy_...@yahoo.it: Or: Motor.4-cmd = joint.4-cmd + joint.5-cmd Motor.5-cmd = joint.4-cmd - joint.5-cmd To get correct feedback value, use last 2 equations and derive feedback positions: joint.4-fb = (motor.4-fb + motor.5-fb) / 2 joint.5-fb = (motor.4-fb - motor.5-fb) /

Re: [Emc-users] problem with genserkins

On 3 December 2011 21:39, Viesturs Lācis viesturs.la...@gmail.com wrote: With all due respect to Andy, I did not have time to go through his suggested solution in HAL. AFAIK he knows HAL very well, so that solution should work well. I think the HAL will work, I don't know if the function of

Re: [Emc-users] problem with genserkins

2011/12/1 Francesca Sca fancy_...@yahoo.it: Viesturs wrote: It is more than just simple: put 2 stepgens in the receiving end of signal. net J0pos-cmd axis.0.motor-pos-cmd = stepgen.0.position-cmd stepgen.1.position-cmd Ok, I can do in this way, But I should change something also to 

Re: [Emc-users] problem with genserkins

On 2 December 2011 10:16, Francesca Sca fancy_...@yahoo.it wrote: I don't konw. I said that because the combination of two motors should give the rotation of wirst: Do you have a picture/diagram? I can imagine designs where two motors in parallel drive a wrist joint, in which case you do not

Re: [Emc-users] problem with genserkins

Andy pugh wrote: Do you have a picture/diagram? I can imagine designs where two motors in parallel drive a wrist joint, in which case you do not have a serial kinematics, but a part-serial, part-parallel one. http://mecatronicaeajm.blogspot.com/2010_05_01_archive.html For the roll of the

Re: [Emc-users] problem with genserkins

On 2 December 2011 11:21, Francesca Sca fancy_...@yahoo.it wrote: http://mecatronicaeajm.blogspot.com/2010_05_01_archive.html For the roll of the wirst, the two side gears must move in opposite direction and this is realized by the moviment of two motors. For the pitch just the moviment of

Re: [Emc-users] problem with genserkins

Hmm, yes. I see the problem. It's quite a neat mechanism, you turn both gears the same direction for up-down and in different directions for rotate. The solution is probably to abstract the two movements into basic angles as far as the DH parameters go, so that you have an elevation and a

Re: [Emc-users] problem with genserkins

On 2 December 2011 13:52, Francesca Sca fancy_...@yahoo.it wrote: Hmm...I don't understand very well what this means. You suggest me to create an HAL component or some maths in HAL to pass the Joints pos values (calculated by genserkins?) to stepgen 4 and 5. Right? Yes. Genserkins rather

Re: [Emc-users] problem with genserkins

Andy pugh wrote: It isn't any harder than other things you have already done. The first thing to work out is how the two stepgen positions correlate to wrist positions. You can figure that out by jogging in joint mode while looking at the stepgen-pos-cmd pins in Machine-Show HAL config (use the

Re: [Emc-users] problem with genserkins

On 2 December 2011 16:33, Francesca Sca fancy_...@yahoo.it wrote: When I looking at stepgen-pos-cmd pins in Show HAL config, I see only a series of numbers. Yes. What did you expect to see? So I can link each stepgen to only one step and one direction pin. No, you can link each stepgen

Re: [Emc-users] problem with genserkins

Andy pugh wrote: I still think it seems a shame not to use all the degrees of freedom though. Infact I don't want loose a DOF. I would like to find a solution for have in the joint mode both the rotation of the wirst and the up  and down,  setting in the right way stepgen and pins. There are

Re: [Emc-users] problem with genserkins

On 2 December 2011 17:35, Francesca Sca fancy_...@yahoo.it wrote: Infact I don't want loose a DOF. I would like to find a solution for have in the joint mode both the rotation of the wirst and the up  and down,  setting in the right way stepgen and pins. There are this solution? Or I should

Re: [Emc-users] problem with genserkins

2011/12/2 andy pugh bodge...@gmail.com: On 2 December 2011 17:35, Francesca Sca fancy_...@yahoo.it wrote: Infact I don't want loose a DOF. I would like to find a solution for have in the joint mode both the rotation of the wirst and the up  and down,  setting in the right way stepgen and

Re: [Emc-users] problem with genserkins

Andy pugh wrote: What I was suggesting was adding: world-u = joint[6]; world-v = joint[7]; world-w = joint[8]; In the forward kins, and joint[6] = world-u; joint[7] = world-v; joint[8] = world-w; In the inverse kins. and then controlling the gripper with U, V or W in the G-code and linking

Re: [Emc-users] problem with genserkins

On 1 December 2011 14:58, Francesca Sca fancy_...@yahoo.it wrote: I tried to do how you have suggest me but when i recompiled genserkins.c many errors appear! What errors? I have another problem with axis and joints. In the puma configuration the wirst can rotate and go up and down. Two

Re: [Emc-users] problem with genserkins

Andy pugh wrote: What errors? the same error of this user http://www.mail-archive.com/emc-developers@lists.sourceforge.net/msg03964.html A, B and C control the angle of the end-effector, you don't have an A motor, you have joint motors with numerical indices. (joint.7 for example)

Re: [Emc-users] problem with genserkins

On 1 December 2011 15:33, Francesca Sca fancy_...@yahoo.it wrote: the same error of this user http://www.mail-archive.com/emc-developers@lists.sourceforge.net/msg03964.html I take it that the changes don't work? Those are all warnings, and the new version of the kensrkins module is created and

Re: [Emc-users] problem with genserkins

Andy pugh wrote: Possibly a bit of both. The joints are numbered from the base to the tip, in the physical sequence of the robot. However, you can pass the joint-pos-cmd value in HAL to any stepgen or PWM that you want to, though that is an easy route to confusion. You can explain me better

Re: [Emc-users] problem with genserkins

On 1 December 2011 16:59, Francesca Sca fancy_...@yahoo.it wrote: You can explain me better this? To the rotation of wirst should corrispond to the moviment of 2 stepper motor. This doesn't create problem with the inverse kinematics of genserkins? As long as it is a true serial kinematics,

Re: [Emc-users] problem with genserkins

2011/12/1 Francesca Sca fancy_...@yahoo.it: Andy pugh wrote: What errors? the same error of this user http://www.mail-archive.com/emc-developers@lists.sourceforge.net/msg03964.html It turned out that genserkins was too complicated for comp, so that is why it is complaining about these

Re: [Emc-users] problem with genserkins

Andy Pugh wrote: However, you are more of an expert than me on Genserkins, you are actually using it... I am not so expert Possibly a bit of both. The joints are numbered from the base to the tip, in the physical sequence of the robot. However, you can pass the joint-pos-cmd value in HAL

Re: [Emc-users] problem with genserkins

2011/12/1 Francesca Sca fancy_...@yahoo.it: How I can pass a joint-pos-cmd value to stepgen and so to two different motors? It is more than just simple: put 2 stepgens in the receiving end of signal. net J0pos-cmd axis.0.motor-pos-cmd = stepgen.0.position-cmd stepgen.1.position-cmd Viesturs

Re: [Emc-users] problem with genserkins

Viesturs wrote: It is more than just simple: put 2 stepgens in the receiving end of signal. net J0pos-cmd axis.0.motor-pos-cmd = stepgen.0.position-cmd stepgen.1.position-cmd Ok, I can do in this way, But I should change something also to stepgen.0.step or stepgen.0.dir?

Re: [Emc-users] problem with genserkins

2011/12/1 Francesca Sca fancy_...@yahoo.it: Viesturs wrote: It is more than just simple: put 2 stepgens in the receiving end of signal. net J0pos-cmd axis.0.motor-pos-cmd = stepgen.0.position-cmd stepgen.1.position-cmd Ok, I can do in this way, But I should change something also to 

Re: [Emc-users] problem with genserkins

Andy pugh wrote: I think that the easiest solution might be to use M67 to send position commands out of the G-code to a HAL pin, and link that direct to a stepgen in HAL. I have the version 2.4.6. This could be a problem with that command? However the command is M67 E Q . You can me explain

Re: [Emc-users] problem with genserkins

2011/11/18 Francesca Sca fancy_...@yahoo.it: I have the version 2.4.6. This could be a problem with that command? However the command is M67 E Q . You can me explain better what are E and Q? http://www.linuxcnc.org/docview/html/gcode_main.html#sec:M67-Analog-Output You mean that for

Re: [Emc-users] problem with genserkins

On 18 November 2011 10:51, Francesca Sca fancy_...@yahoo.it wrote: I think that the easiest solution might be to use M67 to send position commands out of the G-code to a HAL pin, and link that direct to a stepgen in HAL. I have the version 2.4.6. This could be a problem with that command? Yes,

Re: [Emc-users] problem with genserkins

2011/11/16 Francesca Sca fancy_...@yahoo.it: Andrew wrote: If you want to completely control the fingers angle, you can assign another axis for them. It might be W if you already have XYZABC. I guess, you should add the axis to your HAL file and genserkins. It requires no kinematic

Re: [Emc-users] problem with genserkins

Viesturs wrote: Genserkins will treat C as a rotary axis. It is binded into all those matrix conversions, jacobian functions and other stuff that I do not fully understand. IMHO, if You want to control the gripper, it should be anything but XYZABC. I agree with Andrew that adding U, V or W might

Re: [Emc-users] problem with genserkins

2011/11/17 Francesca Sca fancy_...@yahoo.it: Viesturs wrote: Genserkins will treat C as a rotary axis. It is binded into all those matrix conversions, jacobian functions and other stuff that I do not fully understand. IMHO, if You want to control the gripper, it should be anything but XYZABC. I

Re: [Emc-users] problem with genserkins

Viesturs wrote: Yes, that is correct. Genserkins does calcs for 6 joints. If the actual robot has fewer, then dummy joints need to be defined to make up 6 joints for genserkins. How I can make an axis dummy? for example the C one? If You need some extra joint, then it has to be added

Re: [Emc-users] problem with genserkins

2011/11/17 Francesca Sca fancy_...@yahoo.it: Viesturs wrote: Yes, that is correct. Genserkins does calcs for 6 joints. If the actual robot has fewer, then dummy joints need to be defined to make up 6 joints for genserkins. How I can make an axis dummy? for example the C one? I think -

Re: [Emc-users] problem with genserkins

Viesturs wrote: Then there is very nice way to solve it: Use mux2 and limit3 components: Mux2.sel pin should be the open/close command (can be driven from g-code, if linked to spindle or coolant on/off HAL pins), mux2.in0 and mux2.in1 should be stepgen positions, when gripper is closed and open.

Re: [Emc-users] problem with genserkins

On 17 November 2011 09:59, Francesca Sca fancy_...@yahoo.it wrote: Yes, that is correct. Genserkins does calcs for 6 joints. If the actual robot has fewer, then dummy joints need to be defined to make up 6 joints for genserkins. How I can make an axis dummy? for example the C one? This is one

Re: [Emc-users] problem with genserkins

2011/11/17 Francesca Sca fancy_...@yahoo.it: Viesturs wrote: Then there is very nice way to solve it: Use mux2 and limit3 components: Mux2.sel pin should be the open/close command (can be driven from g-code, if linked to spindle or coolant on/off HAL pins), mux2.in0 and mux2.in1 should be

Re: [Emc-users] problem with genserkins

I solved the problem with the world mode when I'm using genserkins module. The main problems were the latency of my computer and some home setting wrong. But now I have another problem. I have set the D-H parameters of my robot but unlike Puma my robot has a hand and a stepper motor that

Re: [Emc-users] problem with genserkins

2011/11/16 Francesca Sca fancy_...@yahoo.it I solved the problem with the world mode when I'm using genserkins module. The main problems were the latency of my computer and some home setting wrong. But now I have another problem. I have set the D-H parameters of my robot but unlike Puma my

Re: [Emc-users] problem with genserkins

Andrew wrote: If you want to completely control the fingers angle, you can assign another axis for them. It might be W if you already have XYZABC. I guess, you should add the axis to your HAL file and genserkins. It requires no kinematic transformation, just add the direct connection. My

Re: [Emc-users] problem with genserkins

Viesturs Lacis wrote: Hello, Franscesca! I have a question about genserkins that is unrelated to Your problem: The thing is that I tried to add also linear joints in it, but it seems that it is not working correctly. Please let me know, if You have a chance and spare time to test it - either in

Re: [Emc-users] problem with genserkins

On 9 November 2011 09:44, Francesca Sca fancy_...@yahoo.it wrote: I don't find the parameter genserkin.max-iterations in Hal Config. It should be under parameters is that where you looked? If I put this line setp ganserkin.max-iterations 100 in hal file, Emc2 gives an error because It isn't

Re: [Emc-users] problem with genserkins

are there any quite simple objective premises that form a basis for evaluating statements? --- On Wed, 11/9/11, andy pugh bodge...@gmail.com wrote: From: andy pugh bodge...@gmail.com Subject: Re: [Emc-users] problem with genserkins To: Francesca Sca fancy_...@yahoo.it, Enhanced Machine

Re: [Emc-users] problem with genserkins

andy pugh wrote: ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0) Looking at the source-code that error indicates that the inversion of the matrix has failed. It might mean that your DH parameters are in some way inconsistent, or possibly just that the motor position is

Re: [Emc-users] problem with genserkins

On 8 November 2011 09:44, Francesca Sca fancy_...@yahoo.it wrote: could be mean that I didn't set the number of iterations that were used to compute the inverse kinematics. The genserkins module request a pin for this. It is correct? How I can set this? It looks like a parameter is created

Re: [Emc-users] problem with genserkins

andy pugh wrote: Odd. Seb tried the 560 config in a Sim version and got a number of errors but none in a realtime installation. This is odd, as things are expected to work just the same. Was this a fresh install from the LiveCD? My LiveCD is the version 2.4.3. I tried to run EMC2 from LiveCd

Re: [Emc-users] problem with genserkins

On Oct 7, 2011, at 09:35 , Francesca Sca wrote: andy pugh wrote: Odd. Seb tried the 560 config in a Sim version and got a number of errors but none in a realtime installation. This is odd, as things are expected to work just the same. Was this a fresh install from the LiveCD? My

Re: [Emc-users] problem with genserkins

andy pugh wrote: I tried the puma560 config and it appeared to work for me. Are you running in a sim or a realtime installation? What version of EMC2? I have a realtime installation and the version of EMC2 is 2.4.6 --

Re: [Emc-users] problem with genserkins

On 6 October 2011 19:02, Francesca Sca fancy_...@yahoo.it wrote: I tried the puma560 config and it appeared to work for me. Are you running in a sim or a realtime installation? What version of EMC2? I have a realtime installation and the version of EMC2 is 2.4.6 Odd. Seb tried the 560 config

Re: [Emc-users] problem with genserkins

andy pugh wrote: Looking at the source-code that error indicates that the inversion of the matrix has failed. It might mean that your DH parameters are in some way inconsistent, or possibly just that the motor position is ambiguous. Is that the actual error message? All those %f entries should

Re: [Emc-users] problem with genserkins

On 5 October 2011 10:59, Francesca Sca fancy_...@yahoo.it wrote: I don't know if this is the actual error. I have the same problem also with puma560 configuration that uses genserkins! In puma example the d-h parameters are correct then I don't think that the parameters are the problem.

[Emc-users] problem with genserkins

Hi Emc users, I have a 6dof robot and I would like to use genserkins module for the kinematics of my robot. I set up the D-H parameters but the robot doesn't work in world mode. Also the puma 560 configuration (that uses genserkins module) doesn't work while I have no problem with puma

Re: [Emc-users] problem with genserkins

On 3 October 2011 10:00, Francesca Sca fancy_...@yahoo.it wrote: ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0) Looking at the source-code that error indicates that the inversion of the matrix has failed. It might mean that your DH parameters are in some way inconsistent, or