Unable to configure for Igus ReBeL 4DOF version

[arifbalik]

I tried updating the IgusRebel.json and AppProvider.js but I had no luck getting my 4DOF to work properly.

I took care of the raspberry pi side, which works fine. Even when the robot viewer sends the joint values for all 6 it only uses 4

But on the robot viewer if I delete any frame in the JSON file or in the AppProvider.js the app crashes.

Any help is much appreciated.

[joepuzzo]

Let me look into this I re created and can confirm its crashing when you delete frames

[joepuzzo]

Well to be clear the viewer ( controller ) is not designed to work with 4DOF. The builder SHOULD work with 4DOF but there is def bug there I will fix.

[joepuzzo]

The inverse kinematics algorithm is designed for 6DOF not 4DOF so the joint angles it sends will not be correct. You would need to update the inverse function to achieve this.

[arifbalik]

Do you think there can be any workarounds? I just want to attach a printhead and follow a 10mm square

[joepuzzo]

You would simply need to modify two spots in the code ( react app ) where inverse() function is called with the end position and [z,x,z] rotations. You could swap that out with your own function that performed IK for a 4DOF arm.

[joepuzzo]

Here:

robot-viewer/src/client/providers/ControlProvider.js

Line 28 in e42c795

const angles = inverse(config.x, config.y, config.z, ro1, ro2, ro3, {

And

Here:

robot-viewer/src/client/providers/RobotProvider.js

Line 231 in e42c795

const angles = inverse(x, y, z, ro1, ro2, ro3, {