On ven, 2012-01-27 at 17:27 +0000, andy pugh wrote: > On 27 January 2012 17:18, Spiderdab <77...@tiscali.it> wrote: > > > I personally think this kind of bug are of a main importance, and that > > also should be simple to solve > > I am not sure it is, in the general case.. > > Working out the boundary of the space that a non-trivial mechanism can > reach while staying inside its joint limits isn't especially easy. > > The only way I can think to do it is to virtually run through all > possible positions. I suspect that the answer should be that a > non-trivial machine shouldn't have soft limits in space, only on the > joints. It should be possible to check that the inverse kins returns > valid joint positions for all end-points of a G-code program, but > testing whether intermediate points of arcs are possible is not > particularly easy without running the G-code through "virtually" > Well if it's so difficult to retro calculate the possible volume-position from the kin module (and it seems like that..), we could add a lot-simplified limits-volume. Let's say i want my machine to warn when x,y,z position exceeds a box, or a sphere or a cylinder, given by those dimensions (dimensions..). I think the 99% of machine can stay into similar limits. Then the machinist must take care of particularities, like holes in the egg! In my opinion it should be simple and very effective. Davide.
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