Re: [Emc-users] problem with genserkins

[Viesturs L. <vie...@gm...>]

2011/11/17 Francesca Sca <fan...@ya...>:
> Viesturs wrote:
>
>
>>Genserkins will treat C as a rotary axis. It is binded into all those
>>matrix conversions, jacobian functions and other stuff that I do not
>>fully understand.
>>IMHO, if You want to control the gripper, it should be anything but XYZABC.
>>I agree with Andrew that adding U, V or W might be the way to go. On
>>the other hand, adding that to genserkins does not seem very easy (at
>>least for me).
>
>
> I have read a post of Alex Joni (the developer of genserkins) where he said that this module works at least 6 axis. If the machine has fewer, I need to set the others as dummy. So the solution could be using genserkins for 5 axis and 1 dummy and then add another axis for to realize the opening and the closing of the fingers. Could be correct? Can I realize this? Any suggestion or help?

Yes, that is correct. Genserkins does calcs for 6 joints. If the
actual robot has fewer, then dummy joints need to be defined to make
up 6 joints for genserkins.
If You need some extra joint, then it has to be added separately. What
I understand from genserkins, it is coded for 6 joints, so the 7th
joint has to be added in genserkins code and that is why I feel it not
to be easy task.
You did not answer, how You want to operate the gripper (just
open/close or control, how much and how fast does it grab), so it is
hard to tell, if that can be done in HAL.
Sorry, I cannot help with genserkins, because I myself need help with
the genserkins :))

Viesturs