TCP 5-axis kinematics

More
01 Dec 2019 21:38 - 01 Dec 2019 21:39 #151703 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics
I‘ll see if I can manage to post the files tomorrow.
Last edit: 01 Dec 2019 21:39 by plopes9000.

Please Log in or Create an account to join the conversation.

More
02 Dec 2019 20:32 - 02 Dec 2019 20:34 #151771 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics
I've added a file containing the complete changed files, pl-switchkins.tar, to the original post with the patch file on page 18 .
Last edit: 02 Dec 2019 20:34 by plopes9000.

Please Log in or Create an account to join the conversation.

More
03 Dec 2019 00:20 #151792 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
Thank you,

so i copied and overwrote all the files in the master-branch folder (made a copy before) but linuxcnc said unknown gcode so i fumbled a bit around and then i tried the sim config. The sim config starts correct, knows the G12.1 command and doesnt give me the error i get with my config. that must mean my config is "broken". afaik in Linuxcnc 2.8 and above joints are no longer hardcoded to the axis which means i can for example have axis a using joint 5 right? atm my joint axis is like this:

ini:
x = j0
y = j1
z = j2
a = j3
c = j4
b = j5

hal:
x = j0
y = j1
z = j2
a = j3
c = j4

is this correct?

i noticed that when i jog my c axis in trivkins there is no position change but the velocity shows something. only when i activate tcp i see a value in the c axis

Please Log in or Create an account to join the conversation.

More
03 Dec 2019 13:13 #151853 by dgarrett
Replied by dgarrett on topic TCP 5-axis kinematics

so i copied and overwrote all the files in the
master-branch folder


In case you missed it, the XYZAC type switchkins
kinematics module (as updated by plopes9000) has been
incorporated into the experimental branch dgarr/s_kins.
The branch uses remapped mcodes (M428,M429) for
switching kinematics instead of gcodes (G12.*)

The branch can be built as a rip from source with
no additional patching or installed as a deb
available from the buildbot.

The branch awaits 1) an offered patch for updating
XYZBC for defining its rotation point and 2) user
testing.

================================================
related:

linear move on line 0 would exceed B´s negative
limit invalid params in linear command

A bug fix for this error was committed to the master
branch yesterday:
github.com/LinuxCNC/linuxcnc/commit/5719...7dc32838672ea8c473e4


================================================
branch announce:
forum.linuxcnc.org/10-advanced-configura...ics?start=220#150781

XYZBC rotation point:
forum.linuxcnc.org/10-advanced-configura...ics?start=220#150955

forum.linuxcnc.org/10-advanced-configura...ics?start=220#150961

guide for dgarr/s_kins usage:
www.panix.com/~dgarrett/stuff/s_kins_guide.txt

Please Log in or Create an account to join the conversation.

More
03 Dec 2019 23:19 #151918 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
Thank you,

you wont believe what solved (at least atm) my problem with G12.1 TCP.
In my ini file there was "KINEMATICS = switchKins coordinates=XYZAC"

i deleted "coordinates=XYZAC" and now i dont get the error anymore. Also i can see values changing when i jog the c axis in trivkins so i guess everything is working like it should.

Thank you all so much for helping!

This opens up so much more possibilities.

Please Log in or Create an account to join the conversation.

More
04 Dec 2019 10:38 #151963 by plopes9000
Replied by plopes9000 on topic TCP 5-axis kinematics
Glad to hear.

Did want to point out that the way forward to get TCP included in the master branch is to support dgarrett's new branch dgarr/s_kins.

guide for dgarr/s_kins usage:
www.panix.com/~dgarrett/stuff/s_kins_guide.txt

Please Log in or Create an account to join the conversation.

More
07 Dec 2019 01:18 #152200 by 3D-Master
Replied by 3D-Master on topic TCP 5-axis kinematics
thanks for the hint, i will try dgarr/s_kins someday in the near future.

Please Log in or Create an account to join the conversation.

More
10 Dec 2019 10:37 #152425 by thang
Replied by thang on topic TCP 5-axis kinematics
To speed up robot, also avoid singularities, change robot config ... i want to control robot in joint mode (this mode really necessary).
I tried branch github.com/rushabhGH/linuxcnc/tree/switchKins for robot to switch kinematic recently , it's worked but there are some problems:
+ When we change kinematic, the trajectory planner will keep using axis limits, max velocity, max acceleration parameters for planning, if these numbers higher than correcsponding joint parameters it can caused "joint following error".
+ Because we just change kinematic, TP still uses old offsets ( G54, G90,G91,...).
I think dgarr/s_kins branch also has this problem so any idea to solve this problem?

Please Log in or Create an account to join the conversation.

Time to create page: 0.116 seconds
Powered by Kunena Forum