Hello,
I've been working on an inverse kinematics solver that could be a useful part of a FreeCAD naxis toolchain. I've been documenting the development here: https://hackaday.io/project/169499solv ... hmodelica
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 nonlinearities of a given machine.
Adam
open source inverse kinematics solver for naxis milling
Re: open source inverse kinematics solver for naxis milling
And here is the source code: https://github.com/adamLange/modelIKa

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Re: open source inverse kinematics solver for naxis milling
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.
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.
Re: open source inverse kinematics solver for naxis milling
Yep! It works for 5axis simultaneous. I have successfully computed a simultaneous 5axis 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.
Re: open source inverse kinematics solver for naxis milling
ModelicaadamLange wrote: ↑Sat Feb 08, 2020 9:27 pmI've been working on an inverse kinematics solver that could be a useful part of a FreeCAD naxis toolchain. I've been documenting the development here: https://hackaday.io/project/169499solv ... hmodelica
Maybe also of interest.
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To support the documentation effort, and code development, your donation is appreciated: liberapay.com/FreeCAD.
Re: open source inverse kinematics solver for naxis milling
I wrote a tutorial that shows how to generate a simple 5axis toolpath with the inverse kinematics solver:
https://hackaday.io/project/169499solv ... cemilling
https://hackaday.io/project/169499solv ... cemilling
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