Re: [Emc-users] problem with genserkins

[Francesca S. <fan...@ya...>]

Viesturs wrote:

>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.


How I can make an axis dummy? for example the C one?


>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.


I don't want that the added axis take a part of the kinematics. I would that it works separatly. It possible make this?


>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 :))


Both the ways are ok for me. I think that I could control the axis that moves the fingers separatly from kinematic genserkins, I would have problems anymore.
Genserkins is a nice problem for many people :p