Certainly no one today would get a Phd for writing a CNC controller. But I would not be surprised at all if he did not need to do a considerable amount of work involving motion planning if he was working with statically unstable walking robots.
Likely some of that work found it's way in to a CNC motion planner. The logic involved is the same no matter the application. You build a trajectory line through space then chop the line in time at the control period and then "magic" happens and you end up with joint rates. On Thu, Jun 15, 2017 at 4:10 PM, Ralph Stirling < ralph.stirl...@wallawalla.edu> wrote: > I don't believe Robert Ellenberg's PhD thesis was related to > his LinuxCNC motion planner work. His thesis title is: > "A Stability-Estimator to Unify Humanoid Locomotion: Walking, > Stair-Climbing and Ladder-Climbing" > > The link to it is: > https://idea.library.drexel.edu/islandora/object/idea% > 3A4538/datastream/OBJ/download/A_Stability-Estimator_to_Unify_Humanoid_ > Locomotion.pdf > > My recollection is that Tormach paid him to work on the motion > planner (for both LinuxCNC and Machinekit). I could be wrong, > but perhaps he will pop in here and give the definitive answer. > > -- Ralph > ________________________________________ > From: Jon Elson [el...@pico-systems.com] > Sent: Wednesday, June 14, 2017 6:21 PM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] LCNC TED Talk style > > On 06/14/2017 11:25 AM, Sven Wesley wrote: > > RUGBOT!!! :D That is so nerdy I must show it! > > And of course Chris' jukebox for the finale. :) > > Anyone with a Raspberry or a Beagle? Would be perfect to show the wide > > range. Think Raspberry CNC and the Stuart's monster. > I manufacture the CRAMPS board that adds 6 stepper drivers > and some heater FETs to the Beagle Bone for 3D printer > setups. All the brilliant stuff was done by Charles > Steinkuehler, especially mating the step generator and PWM > functions running on the Bone's PRU processor to a real-time > HAL component that runs on the ARM. > > What is the most complex code in the code base. I want to point out that > > this really is some hardcore stuff. The people I'm talking to are really > > good programmers so I want to give them some weird stuff. :) > > > I'm not sure of complexity, but Robert Ellenberg's new > trajectory planner is VERY well thought out (Hell he got a > PhD out of it!) and is one of the biggest improvements in > LinuxCNC is the last few years. He gave a talk at one of > the Machinekit meets describing all the intricacies, and I > was barely able to follow the general concept. > > Jon > > ------------------------------------------------------------ > ------------------ > Check out the vibrant tech community on one of the world's most > engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > ------------------------------------------------------------ > ------------------ > Check out the vibrant tech community on one of the world's most > engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- Chris Albertson Redondo Beach, California ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
