LinuxCNC+EtherCAT（3）翻译一篇东西KINS——LinuxCNC中的HAL运动学组件~~~~~~~~~

原文来自http://www.linuxcnc.org/docs/html/man/man9/kins.9.html

直接在里面翻译好了

KINS

NAME
SYNOPSIS
DESCRIPTION
SEE ALSO

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NAME

kins − kinematics运动学 definitions for LinuxCNC

SYNOPSIS

loadrt trivkins

loadrt rotatekins

loadrt tripodkins

loadrt genhexkins

loadrt maxkins

loadrt genserkins

loadrt pumakins

loadrt scarakins

DESCRIPTION

Rather than exporting HAL pins and functions, these components provide the forward and inverse kinematics definitions for LinuxCNC.这些组件主要提供一些正运动学和逆运动学

trivkins − Trivial Kinematics 平常的运动学组件
There is a 1:1 correspondence between joints and axes. Most standard milling machines and lathes use the trivial kinematics module.轴数和关节数相当，大部分铣削机器和车床用到这个组件

rotatekins − Rotated Kinematics 旋转运动学组件
The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.关节和坐标轴之间有45度角

tripodkins − Tripod Kinematics 三向轴运动学组件
The joints represent the distance of the controlled point from three predefined locations (the motors), giving three degrees of freedom in position (XYZ) 
tripodkins.Bx 
tripodkins.Cx 
tripodkins.Cy

The location of the three motors is (0,0), (Bx,0), and (Cx,Cy)

genhexkins − Hexapod Kinematics 六足机器人
Gives six degrees of freedom in position and orientation (XYZABC). The location of base and platform joints is defined by hal parameters. The forward kinematics iteration is controlled by hal pins. 
genhexkins.base.N.x 
genhexkins.base.N.y 
genhexkins.base.N.z 
genhexkins.platform.N.x 
genhexkins.platform.N.y 
genhexkins.platform.N.z

Parameters describing the Nth joint’s coordinates.

genhexkins.convergence-criterion

Minimum error value that ends iterations with converged solution.

genhexkins.limit-iterations

Limit of iterations, if exceeded iterations stop with no convergence.

genhexkins.max-error

Maximum error value, if exceeded iterations stop with no convergence.

genhexkins.last-iterations

Number of iterations spent for the last forward kinematics solution.

genhexkins.max-iterations

Maximum number of iterations spent for a converged solution during current session.

maxkins − 5-axis kinematics example 
Kinematics for Chris Radek’s tabletop 5 axis mill named ’max’ with tilting head (B axis) and horizintal rotary mounted to the table (C axis). Provides UVW motion in the rotated coordinate system. The source file, maxkins.c, may be a useful starting point for other 5-axis systems.

genserkins − generalized serial kinematics 广义连续运动学（联动）
Kinematics that can model a general serial-link manipulator with up to 6 angular joints.6关节机械臂

The kinematics use Denavit-Hartenberg definition for the joint and links. The DH definitions are the ones used by John J Craig in "Introduction to Robotics: Mechanics and Control" The parameters for the manipulator are defined by hal pins. D-H坐标系
genserkins.A-N 
genserkins.ALPHA-N 
genserkins.D-N

Parameters describing the Nth joint’s geometry.

pumakins − kinematics for puma typed robots 
Kinematics for a puma-style robot with 6 joints 
pumakins.A2 
pumakins.A3 
pumakins.D3 
pumakins.D4

Describe the geometry of the robot

scarakins − kinematics for SCARA-type robots SCARA机器人
scarakins.D1——inner arm到ground plane的垂直距离

Vertical distance from the ground plane to the center of the inner arm.

scarakins.D2——关节0到关节1的水平距离，也就是inner arm的长度

Horizontal distance between joint[0] axis and joint[1] axis, ie. the length of the inner arm.

scarakins.D3——inner arm到outer arm中心的垂直距离，可能是正或者负

Vertical distance from the center of the inner arm to the center of the outer arm. May be positive or negative depending on the structure of the robot.

scarakins.D4——关节1到关节2的水平距离，也就是outer arm的长度

Horizontal distance between joint[1] axis and joint[2] axis, ie. the length of the outer arm.

scarakins.D5——tootip和end effector的垂直距离。

Vertical distance from the end effector to the tooltip. Positive means the tooltip is lower than the end effector, and is the normal case.

scarakins.D6——end effector中心线和tootip中心线的距离，如果为0，就在同一条线上。非零一定为正。如果是负数，就是说有一个180度的offset。

Horizontal distance from the centerline of the end effector (and the joints 2 and 3 axis) and the tooltip. Zero means the tooltip is on the centerline. Non-zero values should be positive, if negative they introduce a 180 degree offset on the value of joint[3].

SEE ALSO

Kinematics section in the LinuxCNC documentation