Dynomotion Forum

Dear Tom,

I’m reaching out to inquire about your motion control boards and whether they are suitable for retrofitting a robot arm. Specifically, I’m interested in understanding if your boards are capable of handling the motion control and kinematic calculations required for robotic applications involving multi-axis joints.

If so, I would greatly appreciate any available documentation, technical guidance, or reference links that explain how to configure and describe the robot's mechanical structure (e.g., link lengths, joint types, coordinate systems) in order to enable the controller to compute the necessary kinematics.

Please let me know if there is a recommended model from your product line for such applications, and whether any software tools or APIs are provided to support this process.

Thank you in advance for your support. I look forward to your response.

Best regards,
Guilherme

Hi Guilherme,

Absolutely. Our Motion Libraries contain a Kinematics C++ Class that is used to transform CAD space to Actuator space. Its basically up to you to create the formulas for your particular system. The Class has helper functions to perform rotations and such. So usually only a few lines of code are required. There is also a helper function to determine the Forward Kinematics numerically from the Inverse Kinematics. See in our wiki here for more information.


Here is a somewhat crude, simple, nonlinear example.