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kinematics definitions for emc2 |
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loadrt trivkins loadrt rotatekins loadrt tripodkins loadrt genhexkins |
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Rather than exporting HAL pins and functions, these components provide the forward and inverse kinematics definitions for emc2. |
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trivkins − Trivial Kinematics |
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There is a 1:1 correspondence between joints and axes. Most standard milling machines and lathes use the trivial kinematics module. |
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rotatekins − Rotated Kinematics |
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The X and Y axes are rotated 45 degrees compared to the joints 0 and 1. |
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tripodkins − Tripod Kinematics |
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The joints represent the distance of the controlled point from three predefined locations (the motors), giving three degrees of freedom in position (XYZ) |
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tripodkins.Bx |
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tripodkins.Cx |
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tripodkins.Cy |
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The location of the three motors is (0,0), (Bx,0), and (Cx,Cy) |
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genhexkins − Hexapod Kinematics |
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Gives six degrees of freedom in position and orientation (XYZABC). The location of the motors is defined at compile time. |
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The Kinematics section of the EMC2 Developer Manual |