2013/12/26 EBo <e...@sandien.com> > I was going to ask the same thing... If the issue is with the rapid > traverse that is set limited with the max velocity. Are you sure that > the max velocity is set correctly? >
OK for a trivial kins this can be a solution. Max velocity can be limited to joint velocity and joints velocities check can be skipped. Though in this case the XYZ move velocity will be 1.0 instead of 1.73 (see above discussion). But for a parallel or serial manipulator a joint velocity can easily exceed world velocity twice or more. That is limiting max world velocity to the worst case scenario would seriuosly under-utilize the joints in most other cases (just like using half joints acceleration to ensure the worst case of reverse blending in the current planner). Andrew ------------------------------------------------------------------------------ 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
