sean@cs.tamu.edu (Sean Graves) (10/04/90)
We are constructing an interface for our Puma 560 controller that will enable
us to communicate with the servo controllers directly. However, we are
having some trouble with the conversion between encoders and degrees.
Does anyone have the proper conversion factors? The ones we are using
are: Joint # Encoders/Degree Divide-by-two-bit
------- --------------- -----------------
1 -173.92 0
2 239.59 0
3 -149.18 0
4 211.21 0
5 199.79 0
6 106.51 1
Joint 6 is being adjusted by a factor of -0.180556 of joint 5.
Also - we are using a movement routine that can move in joint or
cartesian space. The speed of movement is determined by the total time
the user wants the move to take. Does anyone have a movement routine
in which the user specifies the percentage of max velocity instead?
Although we could write one ourselves, we would rather not do something
that has already been done 1001 times.
Thanks in advance
Sean Gravestarkiain@tukki.jyu.fi (FM Mikko Tarkiainen) (10/04/90)
In article <8780@helios.TAMU.EDU> sean@cs.tamu.edu (Sean Graves) writes: >the user wants the move to take. Does anyone have a movement routine >in which the user specifies the percentage of max velocity instead? max velocity ??? In order to determine the maximum velocity on a given path one needs to optimize the velocity profile, which is a bit complicated task. See e.g. Bobrow, Dubowsky, Gibson: Time-Optimal Control of Robotic Manipulators Along Specified Paths. Int. J. of Robotics Research, VOL 4, NO 3, 1985, pp. 3-17. >Although we could write one ourselves, we would rather not do something >that has already been done 1001 times. I am sure that some people have done it, and I would really be interested in the implementations (incl. PUMA). But can we ever find the true optimal movements, are the mathematical models we use accurate enough? -- Mikko Tarkiainen e-mail: tarkiain@jyu.fi, tarkiain@finjyu.bitnet Department of Mathematics telefax: +358 41 602701 University of Jyvaskyla, Finland phone: +358 41 602762