On Thu, 21 Feb 2019 at 11:18, Thắng Lê <lethang12...@gmail.com> wrote:
> IMO you can use kinematics to numerically compute (local) Jacobian matrix ( > > https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant) Whilst you can do this, it might not be necessary to do this as a matrix, you can get pretty much the same result with a per-joint velocity calculation. Because the kinematics file performs exact calculations (within floating point precision limits) you can calculate the local joint velocity by considering the joint position at the current servo thread time (t0) and the previous position (t-1) Adding the previous-but-1 (t-2) will allow acceleration to also be computed. Ideally you would use t-dt, t, and t+dt with a very small dt but I think that would be more computationally difficult and using the existing 1mS servo thread as the dt is probably good enough for most purposes. I think that this is probably exactly the same as the Jacobian matrix approach, but simply not presented as a matrix. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
