This documentation is no longer maintained. For documentation of the current version of emc2, please see http://www.linuxcnc.org/docview/html

KINS

NAME
SYNOPSIS
DESCRIPTION
SEE ALSO

NAME

kinematics definitions for emc2

SYNOPSIS

loadrt trivkins

loadrt rotatekins

loadrt tripodkins

loadrt genhexkins

DESCRIPTION

Rather than exporting HAL pins and functions, these components provide the forward and inverse kinematics definitions for emc2.

trivkins − Trivial Kinematics

There is a 1:1 correspondence between joints and axes. Most standard milling machines and lathes use the trivial kinematics module.

rotatekins − Rotated Kinematics

The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.

tripodkins − Tripod Kinematics

The joints represent the distance of the controlled point from three predefined locations (the motors), giving three degrees of freedom in position (XYZ)

tripodkins.Bx

tripodkins.Cx

tripodkins.Cy

The location of the three motors is (0,0), (Bx,0), and (Cx,Cy)

genhexkins − Hexapod Kinematics

Gives six degrees of freedom in position and orientation (XYZABC). The location of the motors is defined at compile time.

SEE ALSO

The Kinematics section of the EMC2 Developer Manual