Stuart Stevenson wrote:
> I have to move the finger and hand axes while the wrist axis moves to be
> able maintain orientation.
> I tried this without the multiple subtraction line but was unable to hold
> the hand orientation while the wrist moved.
>
Hmmm, so joints 4 and 5 (starting at 0) both need to have joint 3
subtracted? The code I wrote can't do that. It would be possible to
make another parameter that tells which joint to unrotate by. Something
like base_joint. This would be a parameter ranging from 0 to (number of
joints-1). The code would then be something like:
if ((unrotate logic) && (base_joint<link_num) && (base_joint!= this_joint))
joints[this_joint].theta-=joints[joints[this_joint].base_joint].theta *
joints[this_joint].unrotate;
(or so :) )
> (this is my main problem)
> I could not cause any change in robot motion no matter what I did to the
> kinematics file. It seems as if I am not using the correct
> kinematics/directory. If I could see some effect I could work with this to
> get what I want.
>
Are you testing after homing and going into world mode? I spent some
time wondering why my code wasn't getting executed, before I figured out
that I had to test in the right mode :)
- Steve
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