Re: [Visualpython-users] Stefs question about arms.

[Stef M. <s.m...@ru...>]

Martin Mason wrote:
> As I understand your question you are trying to position manipulators 
> on the end of multijoint arms..
> I have written quite a bit of code to control 5 and 6 axis robotics 
> manipulators in Vpython. If you know the angles and lengths of your 
> joints and want to determine the position in 3space of your 
> manipulator, this is called Forward Kinematics. If you want pick a 
> particular spot in space and place a manipulator there by calculating 
> the appropriate joint angles, this is called Inverse kinematics.  With 
> greater then 2axis, the problem can be overdetermined and you 
> typically apply iterative techinques or so called Lyapunov methods.  
> Anyway a quick intro to forward kinematics with all the examples 
> generated in Vpython is on my website. http://profmason.com/?p=569
> I have all the code written for the inverse kinematics, but I haven't 
> written anything up yet.
> Failing that you can look at Introduction to Robotics Mechanics and 
> Control by JJ Craig.
>
thanks Martin,
for the moment I only have 2 arms,
and they should be movable by nurses,
who are not educated in forward kinematics.
All joints have a break, which is normally on,
which makes the control easier.

cheers,
Stef
> have fun!
> mmason
>
> ----------------------
> Martin S. Mason
> Professor of Physics and Engineering
> Mt. San Antonio College
> Walnut, CA 91789
> ------------------------------------------------------------------------
>
> -------------------------------------------------------------------------
> This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
> Build the coolest Linux based applications with Moblin SDK & win great prizes
> Grand prize is a trip for two to an Open Source event anywhere in the world
> http://moblin-contest.org/redirect.php?banner_id=100&url=/
> ------------------------------------------------------------------------
>
> _______________________________________________
> Visualpython-users mailing list
> Vis...@li...
> https://lists.sourceforge.net/lists/listinfo/visualpython-users
>