On Sun, Nov 6, 2016 at 4:18 PM Chris Albertson <albertson.ch...@gmail.com> wrote:
Just to clear up, DH allows you to specify any set of translation and rotation devices, one mounted on the other. The normal XYZ mill is very simple case, but as soon as you bolt on a rotary table, especially if the axis of ration is not parallel to the XYZ axis is gets complex. The best feature of DH is that is already list software that can compute forward and inverse kinematics from a file of DH parameters, you don't need to write that very dificult part. In fact you can have high acceleration rates of the tool path even while the motors are running at constant speed. Computing a motor speed so as to keep acceleration and velocity under a specified limit is non-trivial. But the problem is solved. Google will return thousands of hits Naturally, there are many such solutions. My point was that integrating them into LinuxCNC will require a major overhaul. If we want something workable quickly, a hack solution to the existing trajectory planner may be enough for simple cases like a fixed rotary axis. If our long-term goal is optimal motion planning for a general robot, then it would be smart to use an existing motion planning library, rather than to roll our own. ------------------------------------------------------------------------------ Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today. http://sdm.link/xeonphi _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
