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LHSRobotics / gdmux

Gcode interpreter and demultiplexer, and a Go library for controlling the Staübli robotic arm at the London Hackspace.
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Using MOVE for G0 can cause arm to go through the table #4

Open mentarus opened 9 years ago

mentarus commented 9 years ago

Happened when moving across about 500mm distance, where the move command decided to spin forearm around joint 3. This caused the wrist to plow into the table.

saljam commented 9 years ago

Ouch...

Would it make sense to just not use the controller's builtin inverse kinematics and compute them ourselves? It seems to do weird stuff all the time.

(Also, hi Eugene!)

mentarus commented 9 years ago

Given the number of issues with the IK solver in the arm this may be the best option. We've got ROS move_it package working with the small arm and we've already made a model for the staubli so it's shouldn't be that much effort. Will need to see CAM software like sprutcam can control the joints directly, I believe it does so out of the box, just need to write the driver for it. (Also, hello! you are alive!)

On 17 March 2015 at 14:28, سلمان الجمّاز (Salmān Aljammāz) < notifications@github.com> wrote:

Ouch...

Would it make sense to just not use the controller's builtin inverse kinematics and compute them ourselves? It seems to do weird stuff all the time.

(Also, hi Eugene!)

— Reply to this email directly or view it on GitHub https://github.com/LHSRobotics/gdmux/issues/4#issuecomment-82382983.