help to set up the kinematics

andypugh wrote:

In genserkins the joints need to be defined in sequence from the base to the end-effector. That is what Serial Kinematics means. Then the D-H parameters need to be correct and consistent. I don't actually know how to do that bit, it has never been relevant.

This is the problem that i thought! Now I have defined joints in sequence from the base to the end-effector.
When I use world mode and I try to move robot in manual control, this error message appear. " Need to be enabled, in teleop mode for teleop move" and "jointN following error". What means this?

It seems to have problems in the kinematics parameters. If you look in dmesg you will find thousands of error messages.

You can me explain better this?

honey wrote:

When I use world mode and I try to move robot in manual control, this error message appear. " Need to be enabled, in teleop mode for teleop move"

That isn't a very clear error message, but looking in the source code it seems to indicate that motion might not be enabled on one or more axes.
I think it means that the motion.enable pin is not being set TRUE in your HAL file, or might be a consequence of the next error..

"jointN following error". What means this?

This means that the axis in question can't keep up with the requested motion. With a stepper based system like yours it means that the stepgen can't move fast enough to keep up with the required speed (or that the stepgen isn't even enabled)

It seems to have problems in the kinematics parameters. If you look in dmesg you will find thousands of error messages.

You can me explain better this?

EMC2 sends error messages to the system error log, which you can view in the terminal by typing "dmesg"
I found that my system actually locked up because so many errors were being sent to dmesg by your original config, many thousands of messages stating that the kinematics module couldn't find a solution to the requested movement commands.

if you open a terminal from the accessories menu, then you can type "dmesg" while EMC2 is running to get some clues what is wrong.

andypugh wrote:

honey wrote:

"jointN following error". What means this?

This means that the axis in question can't keep up with the requested motion. With a stepper based system like yours it means that the stepgen can't move fast enough to keep up with the required speed (or that the stepgen isn't even enabled).

I believe for a non-trivial kinematic, a calculating problem in the kinematic modul can also cause a following error.
I find remarkable that all (?) joints are moving correctly (no errors?) in joint mode.
It makes me thinking that stepgen is working, motion is enabled, and the problem is solely in the kinematic, like Andy said

that the kinematics module couldn't find a solution to the requested movement commands

Gerd

step4linux wrote:

I find remarkable that all (?) joints are moving correctly (no errors?) in joint mode.
It makes me thinking that stepgen is working, motion is enabled, and the problem is solely in the kinematic, like Andy said
Gerd

When I used Joint mode i haven't error in manual control. You say right...maybe the problem is the kinematics. I try to use dmesg when Emc2 run and i have only this message:

[ 1477.548560] ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0)

It is sure somethig about kinematics...but what?

I guess that's about wrong kinematic parameters. Check it once more. Do you have a kinematic scheme for the robot, with DH parameters for each joint?

By the way, if you have kinematic relations for the robot, you could write your own kinematics file instead of using genserkins (but the inverse kinematics might be a problem).

honey wrote:

[ 1477.548560] ERR kI - compute_jinv (joints: %f %f %f %f %f %f), (iterations=0)
It is sure somethig about kinematics...but what?

I think it is saying that it can't compute the Inverse Jacobian for your current joint positions to solve into XYZ.
Are you sure that you have the D-H parameters correct for your robot?