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 moving properly in XYZ, with the tool perpendicular to the XY plane. The problem comes when I try to use the A and B axis for 5-axis movement. My first problem was that A moves pivot around the Y axis and B moves pivot around X (at least in what I've chosen as the default pose for the robot). I thought this was something wrong with my configuration, so I double and triple-checked everything (it's super easy to get confused about the reference frame as you go from joint to joint), but that all looks good. Then I tried rotating the arm around the base by 90 degrees, and suddenly A pivots around X and B pivots around Y. 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. I would have thought the A and B coordinates would be relative to the work-piece, just like XYZ, or is that not how it works? Anyway, either I'm confused about 5-axis machining, there's something odd with genserkins, or both. Any suggestions on where to look for enlightenment (other than the genserkins code which I'm already reviewing) would be appreciated! Is anyone else doing 5-axis machining with genserkins? -- Charles Steinkuehler [email protected] ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
