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[Aria-users] WG: ArAKin minor bug
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- Subject: [Aria-users] WG: ArAKin minor bug
- From: "Dirk Simon" <XXXXXXXX>
- Date: Sun, 23 Apr 2006 14:42:00 +0200
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--
Dirk Simon
Dipl. Inform. (FH)
Assistent Fachbereich Informatik
Fachhochschule Trier,
Schneidershof
D-54293 Trier
Tel: +49 (0)651 - 8103-579
Fax: +49 (0)651 - 8103-454
E-mail: XXXXXXXX
Web-site: http://www.fh-trier.de/index.php?id=953
-----Ursprüngliche Nachricht-----
Von: Dirk Simon [mailto:XXXXXXXX]
Gesendet: Sonntag, 23. April 2006 14:40
An: 'XXXXXXXX'
Cc: 'XXXXXXXX'
Betreff: WG: ArAKin minor bug
--
Dirk Simon
Dipl. Inform. (FH)
Assistent Fachbereich Informatik
Fachhochschule Trier,
Schneidershof
D-54293 Trier
Tel: +49 (0)651 - 8103-579
Fax: +49 (0)651 - 8103-454
E-mail: XXXXXXXX
Web-site: http://www.fh-trier.de/index.php?id=953
-----Ursprüngliche Nachricht-----
Von: Dirk Simon [mailto:XXXXXXXX]
Gesendet: Sonntag, 23. April 2006 14:36
An: 'XXXXXXXX'
Cc: 'XXXXXXXX'
Betreff: WG: ArAKin minor bug
Hello, Methew:
there is a minor bug in the ArAKin package but it will be fixed soon.
First of all, you are in fixed mode and ArAKin is calculating the joints to
reach the penultimate point and not the last point.
The Forward Calculation always calculates the last point, so the two methods
are not compatible.
Due to a minor bug, the position of the gripper is not correct, as it is
beyond the boundaries of the gripper angle. So this point should also marked
as not be reachable. Instead the gripper remains in an extreme angle.
This was implemented because it was more important that the point was
reached, than reached while staying in the correct fixed gripper position.
Actually the point had to be horizontally shifted after recalculation by the
Forward Calculation, but due to this extreme position, it is not.
A new release is going to be sent soon.
Best,
Dirk and Bernhard
--
Dirk Simon
Dipl. Inform. (FH)
Assistent Fachbereich Informatik
Fachhochschule Trier,
Schneidershof
D-54293 Trier
Tel: +49 (0)651 - 8103-579
Fax: +49 (0)651 - 8103-454
E-mail: XXXXXXXX
Web-site: http://www.fh-trier.de/index.php?id=953