Got a reply on another forum -- Assume that the frame is a square, with pulleys at a=(0,0), b=(0,1), c=(1,0), and d=(1,1). Given a path function x(t), y(t):
a(t) = sqrt(x(t)^2 + y(t)^2) b(t) = sqrt(x(t)^2 + (1 - y(t)^2)) c(t) = sqrt((1 - x(t)^2) + y(t)^2) d(t) = sqrt((1 - x(t)^2) + (1 - y(t)^2)) Error analysis might come later, if I can spare the time. You will almost certainly want to keep the lines that aren't supposed to be 'pulling' -- pulling means f'(t) is negative -- somewhat slack, as keeping them tensioned will increase strain on the system and increase error. Put those pullies in neutral or something. -- ------------------------------------------------------------------------------ This SF.net email is sponsored by Windows: Build for Windows Store. http://p.sf.net/sfu/windows-dev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
