open source inverse kinematics solver for n-axis milling

[adamLange]

Hello,

I've been working on an inverse kinematics solver that could be a useful part of a FreeCAD n-axis toolchain. I've been documenting the development here: https://hackaday.io/project/169499-solv ... h-modelica

The inverse kinematics part is working. The solver takes tool tip and tool orientation as input in the format x,y,z,i,j,k where x,y,z is the tool tip location and i,j,k is a normal vector pointing from the tool tip in the direction of the tool axis, and out outputs the corresponding machine joint or axis angles or coordinates.

To adapt the solver to a given machine it's a matter of modifying the Modelica model to match the targeted machine. The solver is really general and can handle all sorts of misalignments and non-linearities of a given machine.

Adam

[adamLange]

And here is the source code: https://github.com/adamLange/modelIKa

[RatonLaveur]

This sounds cool...did you manage to create toolpaths with it so far?
I wonder how much this would help the work currently spearheaded by Sliptonic and Russ on 4th axis machining or actual 3d machining...it seems that your solver may even allow workpiece transform to perform 5 axis simultaneous.

[adamLange]

Yep! It works for 5-axis simultaneous. I have successfully computed a simultaneous 5-axis toolpath with it. There's a log post about it on the hackaday post above. It was pretty coarse but I made it follow some tool targets on a spherical surface.

[vocx]

I've been working on an inverse kinematics solver that could be a useful part of a FreeCAD n-axis toolchain. I've been documenting the development here: https://hackaday.io/project/169499-solv ... h-modelica

Modelica

ping

Maybe also of interest.
FreeCAD as pre-post procesor for MBDyn, (2).

[adamLange]

I wrote a tutorial that shows how to generate a simple 5-axis toolpath with the inverse kinematics solver:
https://hackaday.io/project/169499-solv ... ce-milling