Quote from: Admin on August 02, 2024, 07:58:28 PM
The thing that happened to the RMS is real Inverse Kinematics.
It sounds complicated and it is a bitch to code. Especially since nobody here has a masters degree in maths.
But we manage to scrap together something that really worked. So now the arm can be moved with the End Effector as reference. If the EE points down and you translate forward, the EE moves down. The EE attitude is also kept as still as possible during translation.It all works within the joint limitation of course, so its not 100%, but that is just like the real thing.
ADMIN