Dynomotion Forum

We are currently using the Kflop controller with two Ksteps to control an 8 axis cable driven parallel robot. All 8 motors have cables that attach to different contact points of a central moving plaftorm that can be moved around in 3D space. Originally we have been giving the robot 8 axis custom made G-Code in the format of XYZABCUV to control all 8 motors independently. Now we want to operate the robot using proper XYZ cartesian coordinate G-Code which controls all 8 motors together. I was wondering if it is possible to add inverse kinematics to allow for this to happen or if we can modify the cartesian coordinate G-Code and convert in real time to XYZABCUV commands?

Hi 13jc110,

That should be possible. See our wiki page on kinematics.

Have you seen our cable driven parallel robot Geppetto which executes standard XYZABC GCode:



Here is an example running standard 3D Printer Slicer XYZ GCode with the U axis controlling the extruder:



We would love to see a photo or video of your system. With 8 motors it would seem your system is overly constrained which might be an additional challenge. Do 6 of the motors completely define the pose?