Please, don’t forget to look into A.M. Fogassa’s work @ http://homemade3dprinter.blogspot.com/. He has the plans for a fully functional 3DP system which is a DIY.

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– Bryan

]]>Software: it is necessary to solve for joint angles etc. in terms of the position and orientation in the real world which are supplied as parameters, which is often tricky; as the reverse problem is easy and you always follow a continuous physical path, it is practical to solve it approximately with Newton’s Algorithm while “walking” successive small steps along that path, i.e. using each step’s solution as the seed for the next step as the steps are small enough to keep the seeds in the zone of convergence; then, throw in tests for approaches to locking up (think quaternions and gimbal lock) and apply dynamic programming to avoid them in choosing the paths (Dijkstra’s Algorithm for shortest paths may help here). Oh, and unless there is a good reason why not (like not being able to learn it), *program in Forth on a bare bones target operating system*, maybe using a remote PC as an “umbilical” host with editors, file handling, etc.

Three Forths Make a Hole describes solving a related problem which may be of interest.

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