4-axis SCARA Kinematics (Untested)



  • Based off of this post, I have attempted to edit/add a new kinematics class called 4axisScaraKinematics which is similar to the regular SCARA kinematics but adds a wrist joint.

    As of now (I think), the wrist joint is defined by the "E" parameter and the "W" parameter in the M669 command. The "E" parameter specifies the maximum and minimum beta (or wrist) angles which are only use for homing (I think). The "W" command should change the wrist type which is present. W=0 or no W, wrist is in the same orientation as the distal arm: W=1, the wrist has a definable orientation in relation to the x-axis using motor[3]: W=2, the wrist will keep the same orientation as the x-axis. This is done by using multiple an if/if else/else statement to change the calculation depending on what value "W" is.

    The main things I am worried about currently are that the kinematics class is not defined anywhere else because I don't know how I would go about doing that.

    I have very limited coding experience, so I do no know if it will work or even compile as of yet. I was hoping to receive feedback on what could be changed or if it would even work in the first place.

    Here is where you can find the RRF fork, specifically the kinematics class 4axisScaraKinematics.ccp.



  • Hi, see https://github.com/Duet3D/RepRapFirmware/blob/dev/AddingNewKinematics.md for details. I think your extension to SCARA may not need it's own new class, but that's up to @dc42 to decide I guess.


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