three degree of freedom

[vahid_mn2008]

Hi everybody

I have a problem with design an algorithm for calculate inverse kinematic for Robot with three degree of freedom .

in Robotic Module there is an example of control a robot with 6 DOF that the name of vi is "Inverse Kinematics for Puma 560.vi" I try to change this vi for use in 3 DOF but I alwaye see error on NI_Kinematics.lvlib:Inverse Kinematics (Point).vi

and NI_Kinematics.lvlib:Manipulator Jacobian (World Frame).vi . I try to fix this problem but I didn't have any success .

please Help me .

I attached  my vi 

Best regards

[vahid_mn2008]

I m sorry

my email address is va3121mn@yahoo.com 

Please help me 

best regards

[Leah-L]

hey vahid,

Do you happen to know what error you are getting?

Regards,

[vahid_mn2008]

hi 

My problems are :

LabVIEW Robotics:  (Hex 0xFFFB44E7) The number of elements in the joint position,

joint velocity, or joint acceleration array is not equal to the number of links in the serial arm. Make sure the number of elements in the array matches the number of

links in the arm.

I 'll try to fix it but i don't know exactly who can I do it .

please help me if you know .

Best regards

[vahid_mn2008]

Hi

Does it possible that we use the robotic arm 's functions same as "inverse kinematic" and the other block for create a robot with less than 6 DOF please see my attach file that i try to simulate a robot with 3 DOF but i saw serval problem

that i couldn't fix my error until now .

please help me

Best regards

[Leah-L]

Vahid,

Based on the text of the error message you are recieving, it seems that the size of your array is probably still set up for an arm with 6 degrees of freedom. I would check that the size of your arrays and the number of joints that you are specifying for your robotic arm match up with the physical setup.

Regards,

Leah

[vahid_mn2008]

HI

I CHANGED SEVERAL ARRAY THAT I SUPPOSE THAT YHEY MUST BE CHANGE . YOU CAN SEE MY ATTACHMENT FILE IN FIRST OF DISCUSSION  . BUT IT DOSEN'T HAVE ANY DIFFERENT FOR MY PROJECT AND I HAVE THE SAME PROBLEM . PLEASE TELL ME WHICH ARRAY AND MATRIX NEED TO CHANGE FOR THIS PURPOSE . AND THIS CHANGE IN WHICH *.vi MUST BE APPLIED.

BEST REGARDS 

VA3121MN@YAHOO.COM

[RavensFan]

Please don't yell!

Also, try to use meaningful titles for your message subject.

Looking at your NJU.vi, I see an array of clusters going into the Set Poses.vi that has 4 elements.  All your other arrays are either 3 elements or 3 rows.  Since the error message you listed says

"The number of elements in the joint position, joint velocity, or joint acceleration array is not equal to the number of links in the serial arm. Make sure the number of elements in the array matches the number of links in the arm."

Do you think that might be the cause of your error message?  4<>3

(PS, posting your e-mail address in a public forum is sure to be discovered by a spam bot.)