On Fri, Feb 15, 2019 at 4:56 PM Thắng Lê <lethang12...@gmail.com> wrote:
> My head!!! I forgot i can make a hal pin to send signal out. > I would like to keep sqrt(x) with x>=0, sending x out and link it to > *motion.adaptive−feed* to reduce velocity. of course, robot cant reach > area that it cant but this solution can help robot not stuck somewhere and > joint velocity dont increase so high till it leave singularies and > vicinity. > IMO you can use kinematics to numerically compute (local) Jacobian matrix ( https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant) and then use eigenvalues of Jacobian matrix to determine how far from singularity you are (largest eigenvalue roughly correspond maximal 'multiplication factor' of current configuration). A lot of parallel machine kinematics articles discus this approach and related concepts, quick google search should help. Petr _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
