kflop for robot

[huynguyen93]

Hello everyone!

I want to use Kflop motion board to control a delta robot, but i have no idea about robot controller and i don't know how to start
anyone have experiences about Kflop and robot please share with me some advice and information
My delta robot have 3 axis

thanks everyone.

[TomKerekes]

Hi huynguyen93,

What is your background? Do you have the delta robot? Do you know the equations to transform from CAD space to actuator space for your robot?

[huynguyen93]

Hi TomKerekes,

Thanks for your answer. I am currently developing the Delta robot and using KFlop to control the actuators. I have all the hardware ready for controlling. Regarding to the kinematics of the robot, I already developed Inverse Kinematics and Forward Kinematics. So I would like to ask you some questions:

1. Is there any way to implement the Inverse Kinematics into G code library?
2. If I have the equations to transform from CAD space to actuator space, which library should I modify to use G code?
3. Can I modify or add some objects on KMotionCNC?
4. Is it possible to develop a new GUI for my robot using KFlop?

Thank you for your help!

[TomKerekes]

Hi huynguyen93,

1. Is there any way to implement the Inverse Kinematics into G code library?

Yes. The Kinematics are part of our Coordinated Motion Library which is used by the GCode Interpreter.

If I have the equations to transform from CAD space to actuator space, which library should I modify to use G code?

You will need to add a new Kinematics Class to the GCodeInterpreter Project. See this wiki article for more info. You might use the Kinematics3Rod.cpp as a 3 axes example which should be somewhat similar to yours.

3. Can I modify or add some objects on KMotionCNC?

Yes. You can modify KMotionCNC yourself or you can use our KMotionCNC Screen editor:

4. Is it possible to develop a new GUI for my robot using KFlop?

Absolutely. See our extensive .NET Library Interface and our PC Application Examples.

[huynguyen93]

many thanks for your support.

[Thomas2018]

Hi Tom


After I add a new Kinematics Class (i.e. CKinematics3Delta) to the GCodeInterpreter Project, I modified the CoordMotion.cpp to use the new class, but it shows an error "Expected a type specifier" like in the attachment. How should I fix this problem?

Assuming the problem is fixed and the the GCodeInterpreter Project is built, how do I know the changes when I run KMotionCNC simulator? How does GCodeInterpreter.dll link with the application file KMotionCNC?


Thanks!

[TomKerekes]

Hi Thomas2018,

In order for your new class to be defined its header file should be added into the standard header include file StdAfx.h in the GCodeInterpreter Directory as are the other Kinematic class headers as shown below:

#include "Kinematics.h"
#include "Kinematics3Rod.h"
#include "KinematicsGeppetto.h"
#include "KinematicsGeppettoExtrude.h"
#include "Kinematics5AxisGimbalAB.h"
#include "Kinematics5AxisGimbalCB.h"
#include "Kinematics5AxisTableAC.h"
#include "Kinematics5AxisTableBC.h"

The simulator shouldn't call or use any Kinematics it operates in simple CAD Space. To test your Kinematics you would need to turn off simulation mode and Jog or run GCode.