Dan,
This is part of a program use to control a mimimover robot witch looks
a lot like the teachmover.
It was written by my father centuries ago ... =)
I think it's written in Modula-2 and contains the kinematic equations
you'll need.
Regards, Jan
DEFINITION MODULE Trans;
(*
CCRC Cartesisian
Hi,
I just got my hands on one of those Teachmover style educational robot
arms.
Obviously I am going to hook it up to EMC as soon as I make/find some
unipolar step drives.
Here is my question, because of the way the motors are hooked to the
joints, as you move a particular joint, the
Dan,
the kinematics of this robot type is quite trivial to solve, this
image should help in figuring it out: http://imagebin.org/33869
The trick is in using substitution (ZR-plane) and putting the center
of the world coordinate system in the rotation centers of the first
and second joints.
