2013/8/16 andy pugh <bodge...@gmail.com> > 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. >
The relation between world and joint velocities is defined by kinematics jacobian matrice. Exactly, inverse jacobian matrix multiply by world velocity vector gives joints velocity vector. Finding jacobian and inverse jacobian is often a part of kinematics module (for example, genhexkins). Thus imposing JOINT CONSTRAINTS to WORLD jogs is pretty easy at any given point. But as the jacobian changes with the machine pose, checking JOINT CONSTRAINTS beforehand for entire move looks complicated. Andrew ------------------------------------------------------------------------------ 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 Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
