is it possible to develop my own Kinematics with Codesys Softmotion?
I would like to create a delta robot but only with two axis, so my axis group will work in the XZ plane.
Any example or similar proyect ?
Kind regards
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
Coincidentally I also tried creating a custom kinematics model for a parallel delta2 like the picture I added.
bipod_rotary doesn't seem to do the job.
Have you accomplished a working model? I'm stuck on error: "smc_cp_invalid_path_elem" while im certain my math is correct since we made it work using single axis movements.
a few questions that you can check regarding your kinematics:
* Does your kinematics FB implement the interface ISMKinematicWithInfo2?
* Does AxesToCartesian(a, out f) -> CartesianToAxes(f, out aCompare) result in a=aCompare for random positions a?
* Do you return a valid rotation matrix f.mR (SMC_Matrix3) in AxesToCartesian()?
If you would like to refer to this comment somewhere else in this project, copy and paste the following link:
Hello,
is it possible to develop my own Kinematics with Codesys Softmotion?
I would like to create a delta robot but only with two axis, so my axis group will work in the XZ plane.
Any example or similar proyect ?
Kind regards
How far did you get with the help page with the same title?
https://help.codesys.com/webapp/_sm_kin ... on=4.6.0.0 m
Are there any sample projects available for custom kinematics
A sample project for a simple kinematics can be found under https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_example_custom_robotics_kinematic.html
Hi John,
Coincidentally I also tried creating a custom kinematics model for a parallel delta2 like the picture I added.
bipod_rotary doesn't seem to do the job.
Have you accomplished a working model? I'm stuck on error: "smc_cp_invalid_path_elem" while im certain my math is correct since we made it work using single axis movements.
Maybe we could help each other
Best regards, Joep
Hi,
a few questions that you can check regarding your kinematics:
* Does your kinematics FB implement the interface ISMKinematicWithInfo2?
* Does AxesToCartesian(a, out f) -> CartesianToAxes(f, out aCompare) result in a=aCompare for random positions a?
* Do you return a valid rotation matrix f.mR (SMC_Matrix3) in AxesToCartesian()?
"* Do you return a valid rotation matrix f.mR (SMC_Matrix3) in AxesToCartesian()?"
This was the issue, thanks a lot