Hi, my friends: the source codes following:
In the file motion/control.c,line1116:,in the function of get_pos_cmds(): the vel_req is calculated by the expression as showed above. my question is:what,s the meaning of the expression? or is it from a formula? If true,what,s the formula? Now,i can conclude that the value of vel_req is the root of the quadratic equation. which is :(1/2) * x^2 + max_dv * x - (joint->acc_limit) * pos_err = 0 But i don‘t konw how can we get the equation? Is it from the concept of conservation law of work and energy ? Thanks, Regards! ------------------------------------------------------------------------------ Dive into the World of Parallel Programming The Go Parallel Website, sponsored by Intel and developed in partnership with Slashdot Media, is your hub for all things parallel software development, from weekly thought leadership blogs to news, videos, case studies, tutorials and more. Take a look and join the conversation now. http://goparallel.sourceforge.net/ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
