On 2 May 2012 10:56, Anders Wallin <anders.e.e.wal...@gmail.com> wrote:
> - non-trivkins (I suspect a jerk/jounce-limited traj-planner needs > derivatives of the fwd/reverse kins?) It is probably possible to determine these simply by running the kins twice with a small offset. In fact I have a feeling that the whole puzzle might be easier in a discrete-time situation (such as the servo thread) than attempts to determine an analytical solution would suggest. My current attempt is a very simplistic planner which basically asks the question "will it be too late to hit my endpoint boundary conditions within the jerk constraint if I don't start now" on every servo thread. I think this can be seen as an attempt to solve the equations using finite-difference methods, but running that in parallel with the motion. I have deliberately not looked at the araisrobo code, because I am doing this for fun :-) -- 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
