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component xyzab_tdr_kins "Switchable kinematics for 5 axis machine with rotary table A and B";
description
"""
This is a switchable kinematics module for a 5-axis milling configuration
using 3 cartesian linear joints (XYZ) and 2 rotary table joints (AB).
The module contains two kinematic models:
type0 (default) is a trivial XYZAB configuration with joints 0..4 mapped to
axes XYZAB respectively.
type1 is a XYZAB configuration with tool center point (TCP) compensation.
For an example configuration, run the sim config: '/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini'.
Further explanations can be found in the README in '/configs/sim/axis/vismach/5axis/table-dual-rotary/'.
xyzab_tdr_kins.comp was constructed by modifying the template file:
userkins.comp.
For more information on how to modify userkins.comp run: $ man
userkins. Also, see additional information inside: 'userkins.comp'.
For information on kinematics in general see the kinematics
document chapter (docs/src/motion/kinematics.txt) and for
switchable kinematics in particular see the switchkins document
chapter (docs/src/motion/switchkins.txt)
.if \\n[.g] .mso www.tmac
""";
pin out s32 dummy=0"one pin needed to satisfy halcompile requirement";
license "GPL";
author "David Mueller";
;;
#include "rtapi_math.h"
#include "kinematics.h"
static struct haldata {
// Declare hal pin pointers used for xyzab_tdr kinematics:
hal_float_t *tool_offset_z;
hal_float_t *x_offset;
hal_float_t *z_offset;
hal_float_t *x_rot_point;
hal_float_t *y_rot_point;
hal_float_t *z_rot_point;
//Declare hal pin pointers used for switchable kinematics
hal_bit_t *kinstype_is_0;
hal_bit_t *kinstype_is_1;
} *haldata;
static int xyzab_tdr_setup(void) {
#define HAL_PREFIX "xyzab_tdr_kins"
int res=0;
// inherit comp_id from rtapi_main()
if (comp_id < 0) goto error;
// set unready to allow creation of pins
if (hal_set_unready(comp_id)) goto error;
haldata = hal_malloc(sizeof(struct haldata));
if (!haldata) goto error;
// hal pins required for xyzab_tdr kinematics:
res += hal_pin_float_newf(HAL_IN ,&(haldata->tool_offset_z) ,comp_id,"%s.tool-offset-z" ,HAL_PREFIX);
res += hal_pin_float_newf(HAL_IN ,&(haldata->x_offset) ,comp_id,"%s.x-offset" ,HAL_PREFIX);
res += hal_pin_float_newf(HAL_IN ,&(haldata->z_offset) ,comp_id,"%s.z-offset" ,HAL_PREFIX);
res += hal_pin_float_newf(HAL_IN ,&haldata->x_rot_point ,comp_id,"%s.x-rot-point" ,HAL_PREFIX);
res += hal_pin_float_newf(HAL_IN ,&haldata->y_rot_point ,comp_id,"%s.y-rot-point" ,HAL_PREFIX);
res += hal_pin_float_newf(HAL_IN ,&haldata->z_rot_point ,comp_id,"%s.z-rot-point" ,HAL_PREFIX);
// hal pins required for switchable kinematics:
res += hal_pin_bit_new("kinstype.is-0", HAL_OUT, &(haldata->kinstype_is_0), comp_id);
res += hal_pin_bit_new("kinstype.is-1", HAL_OUT, &(haldata->kinstype_is_1), comp_id);
// define default kinematics at startup for switchable kinematics
*haldata->kinstype_is_0 = 1; //default at startup -> identity kinematics
*haldata->kinstype_is_1 = 0; //-> XYZAB TCP
if (res) goto error;
hal_ready(comp_id);
rtapi_print("*** %s setup ok\n",__FILE__);
return 0;
error:
rtapi_print("\n!!! %s setup failed res=%d\n\n",__FILE__,res);
return -1;
#undef HAL_PREFIX
}
EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsSwitchable);
EXPORT_SYMBOL(kinematicsSwitch);
EXPORT_SYMBOL(kinematicsInverse);
EXPORT_SYMBOL(kinematicsForward);
static hal_u32_t switchkins_type;
int kinematicsSwitchable() {return 1;}
int kinematicsSwitch(int new_switchkins_type)
{
switchkins_type = new_switchkins_type;
rtapi_print("kinematicsSwitch(): type=%d\n",switchkins_type);
// create case structure for switchable kinematics
switch (switchkins_type) {
case 0: rtapi_print_msg(RTAPI_MSG_INFO,
"kinematicsSwitch:TYPE0\n");
*haldata->kinstype_is_0 = 1;
*haldata->kinstype_is_1 = 0;
break;
case 1: rtapi_print_msg(RTAPI_MSG_INFO,
"kinematicsSwitch:TYPE1\n");
*haldata->kinstype_is_0 = 0;
*haldata->kinstype_is_1 = 1;
break;
default: rtapi_print_msg(RTAPI_MSG_ERR,
"kinematicsSwitch:BAD VALUE <%d>\n",
switchkins_type);
*haldata->kinstype_is_1 = 0;
*haldata->kinstype_is_0 = 0;
return -1; // FAIL
}
return 0; // ok
}
KINEMATICS_TYPE kinematicsType()
{
static bool is_setup=0;
if (!is_setup) xyzab_tdr_setup();
return KINEMATICS_BOTH; // set as required
// Note: If kinematics are identity, using KINEMATICS_BOTH
// may be used in order to allow a gui to display
// joint values in preview prior to homing
} // kinematicsType()
int kinematicsForward(const double *j,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
double x_rot_point = *(haldata->x_rot_point);
double y_rot_point = *(haldata->y_rot_point);
double z_rot_point = *(haldata->z_rot_point);
double dz = *(haldata->z_offset);
double dt = *(haldata->tool_offset_z);
// substitutions as used in mathematical documentation
// including degree -> radians angle conversion
double sa = sin(j[3]*TO_RAD);
double ca = cos(j[3]*TO_RAD);
double sb = sin(j[4]*TO_RAD);
double cb = cos(j[4]*TO_RAD);
// used to be consistent with math in the documentation
double px = 0;
double py = 0;
double pz = 0;
// define forward kinematic models using case structure for
// for switchable kinematics
switch (switchkins_type) {
case 0: // ====================== IDENTITIY kinematics FORWARD ===================
pos->tran.x = j[0];
pos->tran.y = j[1];
pos->tran.z = j[2];
pos->a = j[3];
pos->b = j[4];
break;
case 1: // ========================= TCP kinematics FORWARD ======================
px = j[0] - x_rot_point;
py = j[1] - y_rot_point;
pz = j[2] - z_rot_point - dt;
pos->tran.x = cb*px + sb*pz
+ x_rot_point;
pos->tran.y = sa*sb*px + ca*py - cb*sa*pz + sa*dz
+ y_rot_point;
pos->tran.z = - ca*sb*px + sa*py + ca*cb*pz - ca*dz
+ z_rot_point + dz + dt;
pos->a = j[3];
pos->b = j[4];
pos->c = j[5];
break;
}
// unused coordinates:
pos->c = 0;
pos->u = 0;
pos->v = 0;
pos->w = 0;
return 0;
} // kinematicsForward()
int kinematicsInverse(const EmcPose * pos,
double *j,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
double x_rot_point = *(haldata->x_rot_point);
double y_rot_point = *(haldata->y_rot_point);
double z_rot_point = *(haldata->z_rot_point);
double dx = *(haldata->x_offset);
double dz = *(haldata->z_offset);
double dt = *(haldata->tool_offset_z);
// substitutions as used in mathematical documentation
// including degree -> radians angle conversion
double sa = sin(pos->a*TO_RAD);
double ca = cos(pos->a*TO_RAD);
double sb = sin(pos->b*TO_RAD);
double cb = cos(pos->b*TO_RAD);
// used to be consistent with math in the documentation
double qx = 0;
double qy = 0;
double qz = 0;
switch (switchkins_type) {
case 0:// ====================== IDENTITIY kinematics INVERSE ===================
j[0] = pos->tran.x;
j[1] = pos->tran.y;
j[2] = pos->tran.z;
j[3] = pos->a;
j[4] = pos->b;
break;
case 1: // ========================= TCP kinematics INVERSE ======================
qx = pos->tran.x - x_rot_point - dx;
qy = pos->tran.y - y_rot_point;
qz = pos->tran.z - z_rot_point - dz - dt;
j[0] = cb*qx + sa*sb*qy - ca*sb*qz + cb*dx - sb*dz
+ x_rot_point;
j[1] = ca*qy + sa*qz
+ y_rot_point;
j[2] = sb*qx - sa*cb*qy + ca*cb*qz + sb*dx + cb*dz
+ z_rot_point + dt;
j[3] = pos->a;
j[4] = pos->b;
break;
}
return 0;
} // kinematicsInverse()
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