Re: Minitetra kinematics, following error



Hallo Fred,
Is your tetra an ordinary steward platform with variable leg length like a
flight simulator like in the jpg i send you?
I have both trafos in matlab and it works very good.
I can easily program it in c, i think.
Till
-----Ursprüngliche Nachricht-----
Von: Fred Proctor <frederick.proctor-at-nist.gov>
An: Multiple recipients of list <emc-at-nist.gov>
Datum: Dienstag, 18. Juli 2000 21:44
Betreff: Re: Minitetra kinematics, following error


>
>Till Franitza wrote about homing a Stewart Platform machine and going
>from manual to MDI/auto modes:
>
>> But isnt it practically necessary to go into MDI or Auto mode at any
time? The
>> solution to achieve this is, i think, that a forward trnsformation is
done
>> in the moment, the user switches. Then the Platform position that fits to
>> the actual cable length is computed and used as the new cartesian
position.
>> The inverse cinematics result in the actual cable lengths and no
following
>> error is present. A necessary condition for this should nevertheless be,
>> that a homing is done once. In order to assure that the axes really are
>> where the emc assumes them to be.
>> Dont you think this can be inserted in the code easily?
>
>Yes, you're absolutely right. If you look in emc/src/emcmot/emcmot.c,
>you'll see where the call to the forward kinematics happens. You'll also
>see that this is if'ed out with the EMCMOT_NO_FORWARD_KINEMATICS, by
>default 0 but overridden in the .run script for the minitetra. The
>reason this is overridden is that we don't have the forward kinematics
>for the Stewart Platform, only the inverses. The forwards aren't closed
>form, and we had an iterative solution that was sort of working but not
>quite.
>
>Till, do you have forward kinematics for the type of Stewart Platform we
>have, that consists of two equilateral triangles with the corners cut
>off, as per the 4 parameters in the genhexkins.h file? Our iterative
>solution called the inverse kinematics for several iterations to close
>in on a stable solution. Brian Register at U Florida did this but we
>never got it working completely.
>
>--Fred
>


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