Simulated SCARA Draws a Message

John K. and Alex have continued working with nontrivial machines, and now there's a usable SCARA simulation in addition to the Puma I screenshotted this weekend. Here's a screenshot of the "scaragui", with a little backplot I hacked in.

Now that every developer has access to a machine with nontrivial kinematics, we're also more aware of some trouble with our support for these machines. For instance, there is a lot of confusion about soft limits, because the same numbers are used for joint limits and the cartesian boundary of the work envelope, which was always assumed to be a simple rectangular solid.
(originally posted on the AXIS blog)

Entry first conceived on 5 February 2007, 16:39 UTC, last modified on 15 January 2012, 3:46 UTC
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