I have a machine with 6 axes and non-trivial kinematics, and
currently I am only currently using inverse kinematics.
The constraint is such that some joints must be moved exclusively of
others for the machine to be deterministic,
i.e. if joints that need to be exclusive are moved simultaneously, the
position of the machine becomes unstable.
For example the machine can move X,Y,Z simultaneously, but motion of any
of A,B,C must be exclusive, i.e. only
one of A,B,C can be in motion at a time, and during that motion X,Y,Z
must be fixed.
One way to accomplish this is to only give the machine G-codes that
conform to the constraints by splitting
XYZABC motions into multiple serialized motions - say a sequence of XYZ
then A, then B, then C, and this will
work for the applications of this particular machine, but I'd prefer a
more generalized solution where it is possible
to have 'smooth', or nearly smooth motion in 6 axes.
I am wondering if this can be accomplished by building the
constraints into the kinematics code, which would
do something along the lines of a 'round robin' of the conflicting joint
positions, where the returned joint positions
would only contain non-conflicting positions in a round-robin fashion.
If the machine cycle is fast enough, the motion
should be nearly smooth while avoiding conflicting joint moves that
would be unstable.
Would the bookkeeping information be kept in kinematics flags?
Do I need to implement forward kinematics for this to be successful?
Any comments or suggestions?
Thanks,
David
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