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    Robotic kinematics

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    • JoergS5undefined
      JoergS5
      last edited by

      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.

      Mummedundefined Toaster0042undefined 2 Replies Last reply Reply Quote 5
      • Mummedundefined
        Mummed @JoergS5
        last edited by

        @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

        o_lampeundefined 1 Reply Last reply Reply Quote 0
        • o_lampeundefined
          o_lampe @Mummed
          last edited by o_lampe

          @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.

          1 Reply Last reply Reply Quote 0
          • Toaster0042undefined
            Toaster0042 @JoergS5
            last edited by

            @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

            JoergS5undefined 1 Reply Last reply Reply Quote 0
            • JoergS5undefined
              JoergS5 @Toaster0042
              last edited by

              @Toaster0042 you're right, I should inform, I will prepare an update.

              1 Reply Last reply Reply Quote 0
              • droftartsundefined droftarts referenced this topic
              • JoergS5undefined
                JoergS5
                last edited by

                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.

                droftartsundefined T3P3Tonyundefined 2 Replies Last reply Reply Quote 3
                • droftartsundefined
                  droftarts administrators @JoergS5
                  last edited by

                  @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

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

                  jay_s_ukundefined 1 Reply Last reply Reply Quote 1
                  • jay_s_ukundefined
                    jay_s_uk @droftarts
                    last edited by

                    @droftarts Looking forward to seeing pictures of you with your robot arm fitted... 😜

                    Owns various duet boards and is the main wiki maintainer for the Teamgloomy LPC/STM32 port of RRF. Assume I'm running whatever the latest beta/stable build is

                    o_lampeundefined 1 Reply Last reply Reply Quote 0
                    • o_lampeundefined
                      o_lampe @jay_s_uk
                      last edited by

                      @jay_s_uk Hmmm,
                      like Winter soldier?

                      droftartsundefined 1 Reply Last reply Reply Quote 0
                      • T3P3Tonyundefined
                        T3P3Tony administrators @JoergS5
                        last edited by

                        @JoergS5 very sorry for your loss.

                        Thanks for the update on what you are planning.

                        www.duet3d.com

                        1 Reply Last reply Reply Quote 0
                        • droftartsundefined
                          droftarts administrators @o_lampe
                          last edited by

                          @o_lampe said in Robotic kinematics:

                          @jay_s_uk Hmmm,
                          like Winter soldier?

                          My Bucky cosplay is at 1%.

                          bucky.jpg

                          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

                          1 Reply Last reply Reply Quote 4
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