How to solve kinematics for robot 7dof by genserkin

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thang
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16 Dec 2017 03:29 #103155 by thang

How to solve kinematics for robot 7dof by genserkin was created by thang

Hi,

Can genserkins solve inverse kinematic for 7dof robot and how to do it. When i solve inverse kinematic for a 7dof robot, i need to add one more custom equation to bind to links

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andypugh
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17 Dec 2017 02:36 #103183 by andypugh

Replied by andypugh on topic How to solve kinematics for robot 7dof by genserkin

No, but yes :-)

By default genserkins only supports 6 joints:
github.com/LinuxCNC/linuxcnc/blob/master...ics/genserkins.h#L43

But if you were to download the source-code, alter that number and recompile then you could have 7 joints.

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thang
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17 Dec 2017 09:27 - 17 Dec 2017 09:30 #103195 by thang

Replied by thang on topic How to solve kinematics for robot 7dof by genserkin

so, do i just need modify DH parameter and #define GENSER_MAX_JOINTS = 7, i will give it a try?

Last edit: 17 Dec 2017 09:30 by thang.

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andypugh
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17 Dec 2017 11:34 #103200 by andypugh

Replied by andypugh on topic How to solve kinematics for robot 7dof by genserkin

Maybe.

When you say "7 DOF" I assume you mean a robot with 7 joints? If that is the case then yes, that ought to work.

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andypugh
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17 Dec 2017 11:41 #103201 by andypugh

Replied by andypugh on topic How to solve kinematics for robot 7dof by genserkin

Without reading www.ausmt.org/index.php/AUSMT/article/view/172/152 in any great detail I am beginning to suspect that genserkins might not be able to solve a robot with redundant joints.

But, if not, then you would need to compile your own kinematics anyway, so might as well start with recompiling genserkiins to see what happens.

The following user(s) said Thank You: thang

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thang
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18 Dec 2017 04:28 #103267 by thang

Replied by thang on topic How to solve kinematics for robot 7dof by genserkin

after reading genserkins source-code and some documents about 7DOF redundant manipulator, i think i have to do much work to use genserkins for 7dof, it's not only simple like edit num_joints and DH parameter

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