Comments (2)
Thanks for your interest in tinyik!
I am very interested in this topic and I hope I can help you. First of all, let me have a conversation here. I am not familiar with machine tools, so I do not fully understand them, but I took a quick look at the page you presented. What features are you looking for?
My understanding is that it is important for IK for CNC/CAM to properly determine the position of the cutter tip and the orientation of the cutter. The current implementation of tinyik is not capable of specifying the rotation and orientation of the end-effector(#6), which would require additional implementation inside or outside the library. In addition, there is no function in tinyik itself to calculate the error of the solver or to guarantee its accuracy, so we may need to keep that in mind as well.
from tinyik.
As that page shows, there are a lot of different ways to build a machine to do multi-axis machining. The spindle can rotate around the part or the part can rotate under the spindle. Rotations can be done around different axes to achieve the same orientation.
What I'm hunting for is a way for the end-user to describe in his configuration file how his machine works and then use that information to calculate the specific gcode needed to rotate his machine joints in order to position the tool where we want it with respect to the work.
Knowing that TinyIK can't do rotation/orientation is probably a deal breaker since that is exactly what I need for 4th and 5th axis machining. Do you have plans to add it?
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Related Issues (16)
- Why bypass `ImportError` in `visualizer.py` HOT 2
- Prismatic joint support? HOT 1
- module 'tinyik' has no attribute 'visualize' HOT 2
- problem for using multiple solver in same time HOT 3
- Visualization results in a blank screen HOT 2
- Links that run along the Z-axis aren't shown in the visualizer HOT 2
- trouble with basic results HOT 4
- Constrained Angles for IK HOT 2
- How to create a 3-DoF rotation joint? HOT 1
- wrong visualization HOT 2
- Implementation of relative axis
- arm initial position and angles HOT 1
- joint angle limits
- DH Params conversion?
- How to set rotation/pose of the end effector?
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