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groff treats '-' (the character you get when you hit the "minus" key on the keyboard) as "hyphen", not as "minus". Thus it renders incorrectly in some locales, and line-wraps strangely. groff treats the two-character sequence "\-" as "minus", and the four-character sequence "\(hy" as "hyphen". Details here: https://lists.debian.org/debian-devel/2003/03/msg01481.html This commit replaces every instance of "-" in our manpages where the meaning is "minus" with "\-", so it works right. This fixes many lintian warnings.
140 lines
4.1 KiB
Groff
140 lines
4.1 KiB
Groff
.de TQ
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.br
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.ns
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.TP \\$1
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..
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.TH KINS "9" "2014-12-22" "LinuxCNC Documentation" "HAL Component"
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.SH NAME
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kins \- kinematics definitions for LinuxCNC
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.SH SYNOPSIS
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.B loadrt trivkins
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.PP
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.B loadrt rotatekins
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.PP
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.B loadrt tripodkins
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.PP
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.B loadrt genhexkins
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.PP
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.B loadrt maxkins
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.PP
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.B loadrt genserkins
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.PP
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.B loadrt pumakins
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.PP
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.B loadrt scarakins
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.SH DESCRIPTION
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Rather than exporting HAL pins and functions, these components provide the
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forward and inverse kinematics definitions for LinuxCNC.
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.SS trivkins \- Trivial Kinematics
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There is a 1:1 correspondence between joints and axes. Most standard milling
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machines and lathes use the trivial kinematics module.
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.SS rotatekins \- Rotated Kinematics
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The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.
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.SS tripodkins \- Tripod Kinematics
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The joints represent the distance of the controlled point from three predefined
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locations (the motors), giving three degrees of freedom in position (XYZ)
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.TP
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.B tripodkins.Bx
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.TQ
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.B tripodkins.Cx
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.TQ
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.B tripodkins.Cy
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The location of the three motors is (0,0), (Bx,0), and (Cx,Cy)
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.SS genhexkins \- Hexapod Kinematics
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Gives six degrees of freedom in position and orientation (XYZABC). The
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location of base and platform joints is defined by hal parameters. The
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forward kinematics iteration is controlled by hal pins.
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.TP
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.B genhexkins.base.\fIN\fB.x
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.TQ
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.B genhexkins.base.\fIN\fB.y
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.TQ
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.B genhexkins.base.\fIN\fB.z
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.TQ
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.B genhexkins.platform.\fIN\fB.x
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.TQ
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.B genhexkins.platform.\fIN\fB.y
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.TQ
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.B genhexkins.platform.\fIN\fB.z
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Parameters describing the \fIN\fRth joint's coordinates.
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.TQ
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.B genhexkins.convergence\-criterion
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Minimum error value that ends iterations with converged solution.
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.TQ
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.B genhexkins.limit\-iterations
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Limit of iterations, if exceeded iterations stop with no convergence.
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.TQ
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.B genhexkins.max\-error
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Maximum error value, if exceeded iterations stop with no convergence.
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.TQ
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.B genhexkins.last\-iterations
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Number of iterations spent for the last forward kinematics solution.
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.TQ
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.B genhexkins.max\-iterations
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Maximum number of iterations spent for a converged solution during current
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session.
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.SS maxkins \- 5-axis kinematics example
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Kinematics for Chris Radek's tabletop 5 axis mill named 'max' with tilting
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head (B axis) and horizintal rotary mounted to the table (C axis). Provides
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UVW motion in the rotated coordinate system. The source file, maxkins.c,
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may be a useful starting point for other 5-axis systems.
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.SS genserkins \- generalized serial kinematics
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Kinematics that can model a general serial-link manipulator with up to 6
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angular joints.
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The kinematics use Denavit-Hartenberg definition for the joint and
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links. The DH definitions are the ones used by John J Craig in
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"Introduction to Robotics: Mechanics and Control" The parameters for the
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manipulator are defined by hal pins.
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.TP
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.B genserkins.A\-\fIN
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.TQ
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.B genserkins.ALPHA\-\fIN
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.TQ
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.B genserkins.D\-\fIN
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Parameters describing the \fIN\fRth joint's geometry.
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.SS pumakins \- kinematics for puma typed robots
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Kinematics for a puma-style robot with 6 joints
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.TP
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.B pumakins.A2
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.TQ
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.B pumakins.A3
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.TQ
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.B pumakins.D3
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.TQ
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.B pumakins.D4
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Describe the geometry of the robot
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.SS scarakins \- kinematics for SCARA-type robots
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.TP
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.B scarakins.D1
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Vertical distance from the ground plane to the center of the inner arm.
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.TP
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.B scarakins.D2
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Horizontal distance between joint[0] axis and joint[1] axis, ie. the
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length of the inner arm.
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.TP
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.B scarakins.D3
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Vertical distance from the center of the inner arm to the center of the
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outer arm. May be positive or negative depending on the structure of
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the robot.
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.TP
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.B scarakins.D4
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Horizontal distance between joint[1] axis and joint[2] axis, ie. the
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length of the outer arm.
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.TP
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.B scarakins.D5
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Vertical distance from the end effector to the tooltip. Positive means
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the tooltip is lower than the end effector, and is the normal case.
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.TP
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.B scarakins.D6
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Horizontal distance from the centerline of the end effector (and the
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joints 2 and 3 axis) and the tooltip. Zero means the tooltip is on the
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centerline. Non-zero values should be positive, if negative they
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introduce a 180 degree offset on the value of joint[3].
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.SH SEE ALSO
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\fIKinematics\fR section in the LinuxCNC documentation
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