On Thu, Dec 26, 2013 at 10:00:28PM +0200, Andrew wrote: > > The solution I can think of: calculating each joint velocity and > acceleration before each move (at several points at least for a long moves) > and then decreasing XYZ velocities to fit joint velocities to their limits.
This is exactly the solution Seb, Jeff, and I have talked about several times. I like the simplicity of the idea where you just look along the move until you find where you're exceeding joint constraints the worst, then if you are, scale back accordingly for the whole move, and plan it in world space like usual. It would be hard to know how much "searching" along the path you'd need to do, but on a well-behaved machine where the singularities aren't too close to the working volume, a bit of binary search would give you a very good idea. Perhaps you could know to stop searching when you get down to a few encoder counts/steps, or you could stop early if you are running out of time (we've never done anything like that, but why not? We know the thread period.) Chris ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
