Get axis from cartesian using Genserkins

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kenran
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26 Jun 2013 22:04 #36085 by kenran

Get axis from cartesian using Genserkins was created by kenran

Hi,
I would like to make a fast check of all my path positions before starting my robot.
Is there a way to use directly Genserkins (6 axis) , cartesian position as input, axis position as output ?
Thank you

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andypugh
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27 Jun 2013 06:10 #36114 by andypugh

Replied by andypugh on topic Get axis from cartesian using Genserkins

kenran wrote:
Is there a way to use directly Genserkins (6 axis) , cartesian position as input, axis position as output ?

There might be. If you type "genserkins" at the command-line, something happens...

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kenran
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27 Jun 2013 14:14 #36117 by kenran

Replied by kenran on topic Get axis from cartesian using Genserkins

Yes you're right i have inv>
how do i use it.
how does it work without D&H coniguration ?
i will try to understand with the source code.
Thank you

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kenran
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30 Jun 2013 14:59 #36166 by kenran

Replied by kenran on topic Get axis from cartesian using Genserkins

Ok, i modified genserkins.h default DH parameters and recompiled it.
( the DH works great under axis )
Now i use the command below to get joint degrees :
genserkins i 1300 0 -1910 0 0 0
( those coordinates are valid in AXIS using GCODE )

but the result is :
ERRkineInverse(joints: 0.00 0.00 0.00 0.00 0.00 0.00), (iteration=0)
inv kins error 5

There is no manual explaining input parameters

Help

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andypugh
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01 Jul 2013 06:13 #36180 by andypugh

Replied by andypugh on topic Get axis from cartesian using Genserkins

kenran wrote:
ERRkineInverse(joints: 0.00 0.00 0.00 0.00 0.00 0.00), (iteration=0)
inv kins error 5
There is no manual explaining input parameters
Help

This probably is no help, but I suspect that you may be the world expert on using that module from the command line.
You could try contacting the module author, but he may never have tried that either.

Sorry if this doesn't help with your problem.

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kenran
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04 Jul 2013 00:39 #36285 by kenran

Replied by kenran on topic Get axis from cartesian using Genserkins

I downloaded the complete source code.
I would like to recompile /usr/lib/linuxcnc/modules/genserkins.so in order to debug what parameters are passed by linuxcnc
how to do it ? i only can recompile /usr/bin/genserkins

Thank you

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andypugh
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04 Jul 2013 00:43 #36286 by andypugh

Replied by andypugh on topic Get axis from cartesian using Genserkins

kenran wrote:
I downloaded the complete source code.
I would like to recompile /usr/lib/linuxcnc/modules/genserkins.so in order to debug what parameters are passed by linuxcnc
how to do it ? i only can recompile /usr/bin/genserkins

sudo comp --install genserkins.c should create all the required files. (as far as I know).

Unless there is some makefile magic involved to create a non kernel-mode file. In which case it is probably simplest just to recompile the whole of LinuxCNC.

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