Hi Dave,
It looks like one of the kinematic values isn't correct. Tiny problem. image missing /media/kunena/emoticons/smile.png
Check this
kdl values
with the
robot document
and compare it to your fanuc arcmate datasheet.
Also is using the kinematics in the qt project the current best way to go?
To learn how it works, it's a good starting point. The example is compact and transparant to see how things are done.
Hal_kinematics is integrated to Hal_opencascade. Hal_opencascade
would be your next starting point. You can off cource try Hal_opencascade any time you want.
But understanding the code is more difficult then your current example.
Keep using the MotionVec.push_back? Or is there another way?
The motionvec is just a databucket used by the example. In real life the robot will follow a motion planner or something like
that.
The example of Hal_opencascade used Lcnc as the motion planner.
I see from the
./runtest
it is based on the /opt/linuxcnc install.
To install this version, get it
here.
The dependencies for lcnc are written down here :
dependencies
Your second picture has the correct robot start position. Try go get the Forward Kinematic "FK" xyz start position coordinates.
This is one of the first initialized parameters by KDL and you can check them with your drawing.
It looks like one of the joints isn't rotating to keep the face parallel with the coordinates.
In "IK" mode, inverse kinematic mode, the face should be kept parallel indeed. In "FK" mode, that's not the case.
Oke, try to get the robot working. And if you spent more then 4 hours, pass me the robot datasheet if you have one.
