Re: [CAD_CAM_EDM_DRO] Re: Open (i think) design for a parallel robot (reprap may be interested)

Dennis Schmitz wrote:
....

> The inverse kinematic transform appears to be stable for both and have
> unique solutions. This means for any x,y,z coordinate, you arrive at
> only one solution for leg-lengths to get to it.
>
> So what does this mean to the home-shop or hobbiest builder? There
> would be a layer of software between the xyz and the motor positioner
> that would be responsible for positioning. This transform also
> introduces some quantization error and also decouples the g-code
> interpreter from the actual motor positions.

I don't think this is necessarily the case. I am working on a
tripod-style design (yes, for home use), and so far, my software doesn't
decouple the g-code interpreter from the motor positions. And, there is
no quantization error introduced by the interpreter -- my algorithms
basically operate in stepper motor space.

Does that make sense?

Mike