If you can compute inverse kinematics for the general case then the software in effect "moves" the TP at the desired rate while using inverse kinematics to compute the required motor rates. Planning has to consider the motor rates and if the rate is within limits. Perhaps (I've not read the code) LinuxCNC works in a machine centric cordinate system
I think if the goal is to limit TP rate/acceleration relative to the metal being cut then you need work in the stock-metal's coordinate system The hard part might be transforming the DH from machine centric to stock centric. I think this is the same problem a two handed human might have if "machining" a block of wood held in one hand with a die grinder tool in the other hand. Best to do the computation as if the woodblock were stationary and the human was spinning around somethings with feet in the air. I admit IK is a hard problem. I have a six leg, 18 DOF machine but I cheated and hard coded the IK. On Sun, Nov 6, 2016 at 1:14 PM, andy pugh <bodge...@gmail.com> wrote: > On 6 November 2016 at 20:54, Chris Albertson <albertson.ch...@gmail.com> > wrote: > > There is already an industry standard for describing the general case of > > rotary and translational links bolted together serially and even better > > already software for working out the kinematics and joint and movement > > rates and accelerations > > LinuxCNC supports general serial kinematics defined by > Denavit-Hartenberg parameters using the genserkins module. > > This is a somewhat different problem. > > If using genserkins (or any other TCP kinematics) then the existing > XYZ blending is all that is needed, as _only_ XYZ moves result in a > tool tip motion. ABC moves simply alter the tool orientation abit that > point. > > The problem to be addressed here is somewhat different. > > -- > 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 > > ------------------------------------------------------------ > ------------------ > 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 > -- Chris Albertson Redondo Beach, California ------------------------------------------------------------------------------ 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
