On 30 April 2012 21:24, Joachim Franek <joachim.fra...@pibf.de> wrote: > http://www.et.byu.edu/~ered/ME537/Notes/Ch5.pdf
My current plan is to use the equations from here in a simplistic way. (I found it at the weekend). For my simple exact-stop and constant-speed requirements, I am planning on an approach that says, on every servo cycle: If I was to decrement acceleration by the max jerk from the current velocity and acceleration, how long would it take for v = 0? v(t) = v0 + at -j.t^2/2 => t = -v0 + sqrt(a^2 + 2.v0.j) / 2.v0 If the distance travelled in t + one thread > dtg then start to jerk-down the accel. Otherwise, jerk it up unless a > amax or v > vmax. Note that my requirement is not for any sort of coordinated motion -- atp The idea that there is no such thing as objective truth is, quite simply, wrong. ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
