Configuration of RepRap Firmware for 7 axis Robotic Arm

[AndrewStaines]

We are currently developing a robotic arm 3D printer. We have to configure the RepRap firmware for the Robotic Arm. We need help in how to start configuring? Also I have doubt that how these 3D models are sliced for the Robotic Arm 3D printing?
Thank you in advance
@dc42 @robm

[T3P3Tony]

@AndrewStaines Robot arm Kinematics are part of the work that @JoergS5 is doing for robot kinematics/ multi axis kinematics. I am not sure if 7 axes is supported in his implementation. What is your 7th axis?

Toolpath generation is a whole different story and a big topic when we talk about using more than 3 axes for additive. There is ongoing work at various universities on this, otherwise you are left with the commercial offerings which are rather expensive.

[JoergS5]

Forward kinematics is supported in the robot kinematics, but 7 axes mean more axes than are needed for a given position + orientation (a given position and orientation need 6 axes). I. e. there are infinite solutions for the inverse kinematics (from given position + orientation calculating the stepper angles). There needs to be a preference, e.g. prefer the first axes, or take the solution with lowest velocity of all axes. This needs to be implemented. If your 7 axes robot is a Kuka IIWAR820 alike, then there are some strategies discussed in the book of Pardos-Gotor Screw Theory for Robotics, and the inverse kinematics is solvable.

[AndrewStaines]

@JoergS5 Thanks for the knowledge, will look into it and respond