If you look at the vita attached to the thesis, you will see that he
lists the work he did for LinuxCNC.
On 6/15/17 6:34 PM, Chris Albertson wrote:
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
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