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    Robotic kinematics

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    MultiAxis Printing
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    • JoergS5undefined
      JoergS5 @tony73
      last edited by JoergS5

      @tony73 this is step 4, adding the fiveAxisRobot to the Kinematics file, three places:

      in Kinematics.cpp:
      #include "FiveAxisRobotKinematics.h"

      then in the switch statement:
      case KinematicsType::robot5axis:
      return new FiveAxisRobotKinematics();

      and in Kinematics.h in the enum of KinematicsType:
      robot5axis,

      David had renamed it from fiveAxisRobot to robot5axis, so I changed it also.

      In the .h it must be at the correct position:
      ...
      markForged,
      collinearTriperon, // reserved...
      robot5axis,
      unknown // this one must be last!
      };

      tony73undefined 1 Reply Last reply Reply Quote 0
      • tony73undefined
        tony73 @JoergS5
        last edited by

        @JoergS5

        ok! thanks I tried, successful compilation !!

        JoergS5undefined 1 Reply Last reply Reply Quote 0
        • JoergS5undefined
          JoergS5 @tony73
          last edited by JoergS5

          @tony73 when you're ready with setup, please tell me your M669, then I can calculate whether all positions are calculated correctly (kinematics and inverse kinematics) - if you want.

          PS to calculate errors exactly, I need steps/degree values of the actuators also (the M92 settings).

          tony73undefined 1 Reply Last reply Reply Quote 0
          • tony73undefined
            tony73 @JoergS5
            last edited by

            @JoergS5
            good morning ! i was trying duet 3 6ch with 5 stepper motors connected (one test) to see, in config .g gave M669 of your example M669 K13 X20.0: 5.0 Y0.0: 10.0 Z50.0 R0 L300.0: 400.0: 200.0 : 100.0 P0 but I changed R1 to R0 to have 5 stepper motors, duet 3 is connected to the pc with usb and simplify 3d. If I write M699 it responds like this
            simplify m669.JPG

            the lengths of the arms are missing and the parameter (R) if I write M669 L300.0: 400.0: 200.0: 100.0 accepts the arms but for (R0) nothing does not accept! what problem could that be?
            M669 L parametro.JPG

            another thing is the total homing, it should be (home5axisrobot.g) but writing G28 does not accept only (homeall.g) or single axes, example (homex.g) , help !!!!home5axisrobot.JPG

            here is the (config.g) not very accurate fact, for a kidnapped test and little time available! Hello !!
            config 1.JPG

            config 2.JPG

            JoergS5undefined 1 Reply Last reply Reply Quote 0
            • JoergS5undefined
              JoergS5 @tony73
              last edited by

              @tony73 I cannot detect a bug in the source at the first view. Please let me some time, I can look at it the next days.

              The homeall file is called home5axisrobot.g and homallg is not needed. This was a declaration in
              static constexpr const char *Home5AxisRobotFileName = "home5axisrobot.g";
              but I am not sure whether it is used correctly. I will check it also.

              tony73undefined 1 Reply Last reply Reply Quote 0
              • Antomy5undefined
                Antomy5
                last edited by

                I've used the term kinematics a number of times in this lecture and I haven't really been very clear about what it means. Kinematics is a branch of mathematics ...

                JoergS5undefined 1 Reply Last reply Reply Quote 0
                • JoergS5undefined
                  JoergS5 @Antomy5
                  last edited by

                  @Antomy5 I don't know the definition, but I know what it means at 3D printers and robots: kinematics are functions of movement from actuators to the cartesian coordinates, and inverse kinematics is the other direction.
                  Kinematics in physics describe the motion of points or bodies, I think this is similar.

                  1 Reply Last reply Reply Quote 0
                  • tony73undefined
                    tony73 @JoergS5
                    last edited by

                    @JoergS5

                    OK !! you haven't tried to connect a duet card with homing motors and switches, to try it you can, at least see if the parameters type M669 respond (the various R0, R1, R2, P0, P1, P2: nnn, Lnnn: mmm: ppp: qqq, etc .... the parameter (R) seems to me to answer, but it is not seen when calling M669, home5axisrobot.g does not accept it, instead takes homeall.g, anyway thank you !!! and I wait !!!

                    JoergS5undefined 2 Replies Last reply Reply Quote 0
                    • JoergS5undefined
                      JoergS5 @tony73
                      last edited by

                      @tony73 the reason why R0 is not visible is clear: I added it short time ago, it's not included in the status message yet. I'll add it.
                      I'll fix the other problems soon and tell you when I have a new source checked in in github.

                      1 Reply Last reply Reply Quote 0
                      • JoergS5undefined
                        JoergS5 @tony73
                        last edited by JoergS5

                        @tony73 Hello, I've found the errors and corrected them. I used a method which had unexpected side effects, so now I avoided it. The new release is checked in.

                        I changed the homefile name to homeall.g

                        Please feel free to report me if you find something else. I'll finish my prototype next, so I can test too (e.g. unusual arm movements).

                        tony73undefined 2 Replies Last reply Reply Quote 0
                        • tony73undefined
                          tony73 @JoergS5
                          last edited by

                          @JoergS5

                          Hello!! you were very fast, I recompiled the changes m669 looks ok! everything is visibleM669 OK.JPG

                          now i have to build a robot arm to try, i know the functions of the arms and the joints counterclockwise positive degrees clockwise negative degrees scara in this and similar, the problem remains that I don't understand this! the function !
                          asse 1 2.JPG

                          I don't understand what to measure and how to build axis 1 and axis 2! what help does this parameter give you? you said you wanted flexibility, referring I believe the imperfections of the construction of the robot, thanks!

                          1 Reply Last reply Reply Quote 0
                          • tony73undefined
                            tony73 @JoergS5
                            last edited by

                            @JoergS5
                            ps . good morning! I re-read your help and I think I understand how it works (this feature)asse 1 2.JPG

                            can you just tell me if there is a limit of coordinates x, y, z ? can this be put?
                            M669 K13 X70.0: 70.0 Y70.0: 70.0 Z50.0 .........

                            JoergS5undefined 1 Reply Last reply Reply Quote 0
                            • JoergS5undefined
                              JoergS5 @tony73
                              last edited by JoergS5

                              @tony73 you can simply build your robot as you like. You measure the properties of the robot after building the robot and set the parameters:

                              • measure arm lenghts 2 to 5
                              • measure where axis 1 and axis 2 are located and set parameters X, Y and Z according to the description (arms 2 and 3 parallel to x axis). Those coordinates are the places where you put the axes.
                              • measure and set the angles for all axes by homing or external measuring

                              Just build the robot, I will explain it better soon. From your questions I see that I did not explain it good enough. I will make it clearer with better images when I have a prototype my own and I can make images. The reason why I did not use images from the internet is, I wanted to avoid licensing problems.

                              tony73undefined 1 Reply Last reply Reply Quote 0
                              • tony73undefined
                                tony73 @JoergS5
                                last edited by

                                @JoergS5

                                good day! I saw that the updates continue! I found that if the size of the print bed (M208) is not right for the size of the robot arm, it won't move and write this (Error: G1 / G2 / G3: intermediate position outside machine limits). in (M208) should you put only X, Y, Z or also U, V?
                                Is parameter P1 working? can you give me an example how to change the angle of the 5th axis using P1?
                                after homing the robot arm, before moving it, thinks it is stretched along the X axis with all the motors in 0 degree position (is that right or am I wrong?)

                                another question, this is M114 immediately after homing, why does V always mark V 5.005? shouldn't it be zero? in M669 I put (P2: 0.0) thanks!V5.005.JPG

                                JoergS5undefined 3 Replies Last reply Reply Quote 0
                                • JoergS5undefined
                                  JoergS5 @tony73
                                  last edited by JoergS5

                                  This post is deleted!
                                  1 Reply Last reply Reply Quote 0
                                  • JoergS5undefined
                                    JoergS5 @tony73
                                    last edited by JoergS5

                                    This post is deleted!
                                    1 Reply Last reply Reply Quote 0
                                    • JoergS5undefined
                                      JoergS5 @tony73
                                      last edited by JoergS5

                                      @tony73
                                      I will finish the prototype next weekend and can then test the issues you have myself. I will tell you when I have fixed the source.

                                      If you want to lower the M208 limits to avoid your error, you could lower restrictions in the methods IsReachable and LimitPosition.

                                      I will update the current status of development in the https://duet3d.dozuki.com/Wiki/Configuring_RepRapFirmware_for_a_FiveAxisRobot?revisionid=HEAD document near the begin of the document in the Status section. Here you can see that P1 is not supported yet.

                                      droftartsundefined tony73undefined 2 Replies Last reply Reply Quote 0
                                      • droftartsundefined
                                        droftarts administrators @JoergS5
                                        last edited by droftarts

                                        @JoergS5 sounds like it’s nearly time to get my old Armdroid https://collection.sciencemuseumgroup.org.uk/objects/co470742/armdroid-robotic-arm-robotic-arm from the loft, dust it off, and install a Duet! Excited by this development, well done!

                                        I did get it going with RAMPS, but only had four (of six five six (I forgot there are two for the wrist, that allows the gripper to either rotate around the wrist joint, or rotate in line with the wrist, which may be a challenge for kinematics)) motors working, and could only move the motors directly (no Kinematics).

                                        Ian

                                        Bed-slinger - Mini5+ WiFi/1LC | RRP Fisher v1 - D2 WiFi | Polargraph - D2 WiFi | TronXY X5S - 6HC/Roto | CNC router - 6HC | Tractus3D T1250 - D2 Eth

                                        JoergS5undefined 1 Reply Last reply Reply Quote 0
                                        • JoergS5undefined
                                          JoergS5 @droftarts
                                          last edited by

                                          @droftarts it would be great if you reactivate it!

                                          The development is not finished yet and I have a lot of ideas in addition. But I want to have a good fundament first (firmware, documentation and hardware DIY description to help others to build a robot).

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                                          • tony73undefined
                                            tony73 @JoergS5
                                            last edited by

                                            @JoergS5

                                            good morning! I did various tests, and I realized that I had to find the right relationship with lengths of the individual arms, min max angular limits of the joints and min max limits of (M208 in config.g)
                                            I tried with these arms using 5 steppers i.e (R0) (L2 200mm L3 200mm L4 100mm L5 0mm) (X 0.0: 0.0 Y 0.0: 0.0 Z 100.0) or had to modify (from A-45: 45: 0: 75: - 75: -5: -170: 170: -135: 135 in A-45: 45: 0: 140: -140: -5: -170: 170: -135: 135) inside FiveAxisRobotKinematics.h I recompiled the firmware because I did not understand if I could modify them in M669, and I can tell you that with the parameters in equilibrium the motors move reaching more and more printing area.
                                            for the construction of the robot as you told me are you doing this?
                                            ROBOT PARALLELO.JPG

                                            JoergS5undefined 1 Reply Last reply Reply Quote 0
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