On 16 August 2013 15:35, Chris Radek <[email protected]> wrote: > This means: just like you have > to set AXIS LIMITS to be inside JOINT LIMITS, you must also set up > your configuration so obeying AXIS CONSTRAINTS keeps you within your > JOINT CONSTRAINTS. This can be tricky, but you must do it. I think > your question is about this paragraph.
Yes, I think it is. Unfortunately in some situations this could be painful. You would have to choose your rotary axis constraint such that for the very longest tool at the worst possible angle the linear axes can keep up. Then when the tool is very short and the angle very small you will end up with much slower than necessary motion. And this super-conservative limit will also apply in G-code which does actually know better. Would it be possible for the code to determine the instantaneous relationship between current AXIS (trajectory?) velocity and the associated JOINT velocities? I think in theory this is just two calls to the kins module of a "now" and a "now + delta-t" point. The system could then "throttle back" the trajectory velocity accordingly. I think that the relationships will always be continuous (as long as the kins is continuous, and those kins with singularities are already a problem). If the relationships are continuous then there may not be any worries about simultaneously respecting accel limits. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Get 100% visibility into Java/.NET code with AppDynamics Lite! It's a free troubleshooting tool designed for production. Get down to code-level detail for bottlenecks, with <2% overhead. Download for free and get started troubleshooting in minutes. http://pubads.g.doubleclick.net/gampad/clk?id=48897031&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
