@JoergS5 Ok, thank you! I'll post here if I have any updates

Hello guys, I've been able to include the DH parameters directly to the gcode by creating a slicer using grasshopper. But this solution is not pratical in any form. @JoergS5 is it possible to launch a firmware with the DH enabled on the K13 so I can figure the robot directly on the config file? I'm using a cartesian kinematics and tricking the machine with the gcode. Here is a short video of it "building" a cillinder: lRobot kinda working

@dc42 I'm prototyping a "3d bed" for calibrating the arm. The problem is the "donut shaped" movement, but i think I can make something that can be used to calibrated. In the next week or so I'll post it so everyone can help improve it

@JoergS5 I'm reading the discussion so I can know what kind of progress have already been made.

I've noticed that the robot viewer is not avaiable anymore, is there any specific reason for that?

@JoergS5 I think I can probably help with it, just need to understand what progress you've made so far and learn a little bit better about RRF microcontrollers

@JoergS5 said in 4 axis palletized robot arm (robot kinematics) for 3D printing:

That's interesting. I implement the kinematics with screw theory, but for more complex problems like 6 arm industrial robots I use geometric algebra (eg calculating intersections of two circles of two robot arms). Some ideas like quaternion based slerp for a velocity constant rotation of AC axes is part of geometric algebra, so I want to base a segmentation calculation on this theory. This is however not part of the kinematics, but of the core RRF.
For geometric algebra I use the conformal geometric algebra, originated from Hestenes.

I will try to deepen my knowledge of algebra so that it can be applied to robotics. I confess that I have only used it within the study of physics, so I am excited to be able to apply my learning in a more practical way. I have heard of Hestenes; during my undergraduate studies, I was recommended one of his books, "Clifford Algebra to Geometric Calculus".

@JoergS5 I'm not familiar with screw theory, but I've been reading about it in the Duet3D documentation and searching for relevant papers. I have a strong understanding of geometric algebra, as I am completing my physics degree.

@JoergS5 Ok, I'll wait for it then. If there's something I can help with please let me know

@JoergS5 When can we start testing?

It was a problem with the e-mail confirmation, now I'am able to reply.