#304 Genserkins with linear joints - kinematics error

open
John Kasunich
5
2012-11-30
2012-11-30
Viesturs Lacis
No

I have been trying to implement linear joints in genserkins module. I have attached the genserkins.c and genserkins.h file and also the config files - INI and HAL file as well as the

ERR kI - compute_jinv (joints: 0.000000 0.000000 90.000000 90.000000 90.000000 0.000000), (iterations=0)

Discussion

  • Viesturs Lacis
    Viesturs Lacis
    2012-11-30

     
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  • Viesturs Lacis
    Viesturs Lacis
    2012-11-30

     
    Attachments
  • Viesturs Lacis
    Viesturs Lacis
    2012-11-30

     
    Attachments
  • Viesturs Lacis
    Viesturs Lacis
    2012-11-30

     
    Attachments
  • Viesturs Lacis
    Viesturs Lacis
    2012-11-30

     
    Attachments
  • Viesturs Lacis
    Viesturs Lacis
    2012-11-30

    The error is that after homing all joints and switching to world mode LinuxCNC hangs up and this error message is added to terminal repeatedly:
    ERR kI - compute_jinv (joints: 0.000000 0.000000 90.000000 90.000000 90.000000 0.000000), (iterations=0)

    Switching to joint mode brings LinuxCNC back to life.
    I am trying with simulator, built on 12.04 from master branch.

     
  • Viesturs Lacis
    Viesturs Lacis
    2012-11-30

    Attached are genserkins.c and genserkins.h files, INI and HAL file of config I tried and also file that defines the virtual machine for vismach.