Re: inverse kinematic

[Till Franitza <xfa-at-isw.uni-stuttgart.de>]

Hi!
This is not too difficult.
Look at /emcmot/trivkins.c. You have to make a File with functions that have the same input- and
output-variables and the same name as KinematicsInverse, Kinematicsforward and kinematicshome.
Inside this File you have to insert the rules what to do with the programmed X, Y, Z and a,b and
c. These have to be evaluated to make Axis-Positions out of it. It is important, that -forward is
the inverse of -inverse (or vice versa). Otherwise the controller emcmot, that calls these
functions will be confused and think there is an excessive following error.
Look at the makefile in emcmot how to build motion modules that include your new kinematics. Use
pumakins or genhexkins as a model.
Till

Pwcag-at-aol.com wrote:

> Hello All,
>
>   I'm adapting EMC to make a 3-Axes / 5-Axes  watercutting machine but I have a few question.
>
> 1) I need to find out how to calculate the A & B
>    axes based on the angle required for the head.
>
> 2) Is this something that can be done in EMC?
>
> Thank You.
> Tom Freedy.

--
Dipl.-Ing. Till Franitza
Institute for Control Engineering of Machine Tools and
Manufacturing Units (ISW)
c.o. FISW
Rosenbergstr. 28
D- 70174 Stuttgart
Germany

phone: ++49 (0)711 22 99 2-28
fax:   ++49 (0)711 22 99 2-22
email: till.franitza-at-isw.uni-stuttgart.de
web:   www.isw.uni-stuttgart.de

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