5 DOF Robotic Arm

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29 Mar 2021 07:32 #203984 by elisa
5 DOF Robotic Arm was created by elisa
Hello to all,

I need your help.

I have a 5 DOF robotic arm and I am having problems with the axis in the GUI. Even though I have 5 rotary axes, the Preview shows me 5 linear axes.

I tried swapping the order of the axes in the GEOMETRY section of the HAL file like:

" GEOMETRY = ABXYZ " instead of "GEOMETRY = XYZAB"
but nothing done.

Any suggestions?

Please, write soon!

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29 Mar 2021 09:28 #204001 by Aciera
Replied by Aciera on topic 5 DOF Robotic Arm

I have a 5 DOF robotic arm and I am having problems with the axis in the GUI. Even though I have 5 rotary axes, the Preview shows me 5 linear axes.


Not exactly sure what you expect to see but as far as I know XYZ will always be displayed as linear and ABC as rotary.
Can you post a screen shot?

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29 Mar 2021 11:23 #204015 by elisa
Replied by elisa on topic 5 DOF Robotic Arm
My aim is to have the right trajectory of the end effector along the way. However, what I see is just linear motion.

I would like to get a preview like the one in this video:


I'm not in the lab now so I can attach the screenshot, I'll do it as soon as possible.

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29 Mar 2021 12:19 - 29 Mar 2021 12:19 #204018 by Aciera
Replied by Aciera on topic 5 DOF Robotic Arm

My aim is to have the right trajectory of the end effector along the way


Are you aware that you need a kinematic file to translate your joint position to cartesian coordinates?
Last edit: 29 Mar 2021 12:19 by Aciera.

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29 Mar 2021 12:36 #204019 by elisa
Replied by elisa on topic 5 DOF Robotic Arm
Yes, in fact when I run the g-code, the robot moves correctly. The problem is that the actual trajectory of the final effector doesn't match what I see in the preview.

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29 Mar 2021 12:57 #204020 by Aciera
Replied by Aciera on topic 5 DOF Robotic Arm

The problem is that the actual trajectory of the final effector doesn't match what I see in the preview.


Is this a vismach visualization or just the trajectory preview in AXIS?

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29 Mar 2021 13:06 #204021 by elisa
Replied by elisa on topic 5 DOF Robotic Arm
It is just the trajectory preview in AXIS.

Any ideas?

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29 Mar 2021 13:09 #204022 by Aciera
Replied by Aciera on topic 5 DOF Robotic Arm
So a rotation of A gives you a linear translation in the preview and if so in which direction?
Can you post your ini and hal?

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29 Mar 2021 13:29 #204026 by tommylight
Replied by tommylight on topic 5 DOF Robotic Arm
In the ini file, "display" section there is the below entry:
GEOMETRY = xyz
Try changing that.

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30 Mar 2021 14:39 #204130 by elisa
Replied by elisa on topic 5 DOF Robotic Arm
This is what I have in the ini file, display section.


Where should I add "geometry"?
Attachments:

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