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
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