Re: parallel kinematics in EMC

Graham,
I am also planning on using EMC with a hexapod sometime soon. I'm
working on improving access to the documentation right now, so it
should be easier to look up this kind of information in the future.

For now.. Print out the Integrator.pdf found here:
http://prdownloads.sourceforge.net/emc/emc-docs-1.0.0.pdf.tgz?download

The EMCMOT module contains the inverse kinematics code - have a look
at page 82.

The Integrator.pdf file says to set EMCMOT = minitetra.o
in the .ini file for stepper motors.

paul c says to link the *kins.o to emcmot.o in place of trivkins.o
I think he means genhexkins.o for hexapods. There are also modules
for other types of kinematics, including SCARA and Puma kins.

You will also need to change the labels on all of the axes to match
hexapod standard naming conventions (gotta look those up) and use
the pinout at http://www.linuxcnc.org/handbook/faq/faq/x410.html if
you're using steppers. (Although I would call the axes A B C D E F,
so you dont confuse X Y Z with cartesian coordinates.)

Another idea would be to bug Fred Proctor at NIST or one of the many
Universities that are using EMC to control a hexapod. The name
Gloria Wiens at U. Florida comes to mind. Pass any info on to me,
eh?

fenn_at_sdf_dot_lonestar_dot_org

Good luck!
-ben lipkowitz


--- In CAD_CAM_EDM_DRO@yahoogroups.com, "Graham Stabler"
<eexgs@n...> wrote:

> I finally took the plunge to install EMC on a partition of my hard
> drive. The reason is to play around with parallel kinematics.

The

> installation went fine and I am slowly learning a little about

Linux

> from a friend.
>
> I was wondering if anyone on the list has used EMC for a hexapod

or

> similar. I need to work out firstly the basics of getting EMC to

move

> my stepper motors but then I need to modify things so I can get

the

> kinematics to match my machine. I am not sure of this just

involves

> some ini files or reprogramming.
>
> Just a bit lost, would appreciate a map.
>
> Graham