Robotic kinematics
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@JoergS5 I have tried using the 4 axis pelletized earlier and was unable, will you be releasing it soon? I am using this for a school project and tought it was working so I am in a bit of trouble now
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@Toaster0042 I will make a release soon.
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@Toaster0042 You can help me by providing
- some pictures of the robot arm. Special interest is how the parallelogram is built, i. e. is it a triangle or some other solution. How is the parallelogram connected to the endpoint?
- exact measures of arm lengths
- to which parts are the steppers connected
This allows me to build the same and verify the code before publishing.
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@JoergS5 I can get the measurements to you a bit later but this is the arm I am using https://www.instructables.com/Build-a-Giant-3D-Printed-Robot-Arm/
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@Toaster0042 I don't need the measurements, because it's not a 4 axis parallel robot.
It's like an industrial 6 axis robot, but without the 6th axis. Instead the 6th axis, the 6th actuator is used to grip.
I have code for the 6 axis robot, but not for your 5 axis plus gripper. I have to think about it. Your project is interesting, I want to support your robot type if possible. I will ask you to test code with your robot to verify the code.
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@JoergS5 ah ok, I tought it would fall under the 4 axis robot with an aditional rotating joint, I am fine with testing it I simply need to finish printing it as I have not finished it yet and was trying to get the firmware set before but I will be happy to test the code
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I have time in May and June now to proceed developing robot kinematics. The order is
- 4 axis parallel (the black robot arm), probably as a quick-and-dirty approach first for @YuriConfessor
- DWC plugin to design and analyse a given model
- CoreXY/Prusa/Cartesian 5 axis AC and BC
- 6 axis robot
- testing whether Qt is a possibility for a designer/slicer
- elaborate tool design. My personal priority is using robot for CNC, so I'll work on support for different tools (tool shape etc).
I'll use 3.5.1 as basis.
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@JoergS5 Dear Joerg, thank you for sharing all of your hard work. I have this post and RepRap configuration regarding robot 3D printing. Since I am new to this topic, I may as you s question about configuring. Can we use the same procedure if we have a 6DOF robotic arm with its own controller and need to add an extruder to it?
from my understanding, most of the discussions in the forum and documentation focused on developing a robotic arm and its configuration however I couldn't figure it out how to synchronize robot motion and extruder commands for printing.Thank you,
Mohamad -
@Mummed You can define fans, heater and a tool same as any other 3D printer. But to make it work with a 6DOF arm, you'd need a matching slicer.
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@JoergS5 Hey! I just wanted to check back on this and see if you had made progress on this and if you had made the implementation of the new kinematics
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@Toaster0042 you're right, I should inform, I will prepare an update.
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undefined droftarts referenced this topic
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I'm back with robotics. My partner passed away, I had to mourn, I have a new partner now since a few months, she will be on vacancy alone mid to end may. So this will be the time frame when I will work on robot kinematics again, based on RRF 3.6.
I will implement an idea I had last year and started implementing some time ago. Robotics solutions are be very different for forward and inverse kinematics. So I thought about a generic approach:
- a forward chain to combine different drive movements into one movement chain, with one or multiple solutions
- a backward (inverse) chain with the result of none to multiple solutions
- forward and backward chains are stored in arrays which can be set by parameters with M669. Kinematic code will simply process the chains
- to find the chain solutions, the user can think it through mathematically and set the parameters or he can use the to-be-programmed Qt based program to set solutions or simulate them and compare to measurements of the prototype
- the chain elements are code fragements to implement mathematical solutions. The mathematicsal solutions can be augmented in future releases when necessary
That's my plan.
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@JoergS5 I'm sorry for your loss. I'm glad that you have been able to move forward and find a new relationship, and I look forward to more robotics development. I really must rebuild my robot arm...
Ian
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@droftarts Looking forward to seeing pictures of you with your robot arm fitted...
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@jay_s_uk Hmmm,