Re: [Emc-users] EMC + SCARA robots?

[Sagar Behere <sagar_behere-at-yahoo.com>]

Hello Ray,

This is great. I went through the puma* files and I've
got a general idea of how the things in there are
working. I 

1) Know in detail the forward and inverse kinmatic
equations of a SCARA robot.

2) With a little help, I'll be able to code something
like scarakins.c and scarakins.h

What I'd like to know now is:

1) Lets assume that I've coded the scara* files. So
now what? I'll probably have to recompile something
else also, in addition to the scara* files. What is
that "something"?

2) After the recompilation of <whatever> is done, I'll
somehow have to stick this together with emc...i.e,
make emc "see" and use this. What is the necessary
glue?

3) You say you have seen emc run a Puma robot/Hexapod.
Can you put me in touch with whoever did that?

4) Finally, you say

> I can't help you much beyond this but there are
> others that we can ask that 
> will at least point you in a direction.

Whom should we ask?

Thanks and regards,
Sagar

--- Ray Henry <rehenry-at-up.net> wrote:
> 
> Sagar
> 
> Yes, the EMC can be made to use both forward and
> inverse kinematics to run 
> joint (motor and axis) position to world (cartesian)
> position.  I have seen 
> it run a puma robot which may look a bit like what
> you are doing there.  I 
> have also seen it run several Stewart platforms
> (hexapods).  
> 
> The kinematic definitions are contained in several
> files in the 
> emc/src/emcmot directory.  They are named;
> 
> genhexkins.c
> genhexkins.h
> lukaskins.c
> puma560kins.c
> puma560kins.h
> trivkins.c 
> 
> the *hexkins* are files for hexapods.  Lukaskins is
> a parallel actuator 
> setup.  Puma* are the files for a puma like robot
> welder.  trivkins is the 
> trivial solution where each motor runs one slider in
> cartesian space.
> 
> I can't help you much beyond this but there are
> others that we can ask that 
> will at least point you in a direction.
> 
> Ray


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