On 06/15/2017 06:10 PM, Ralph Stirling 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.
Yes, I can believe that his thesis did not come directly out
of LinuxCNC, but I think there WAS some tie-in. There may
have been some mathematical problems that he solved for one
of these projects that was helpful in the other.
The basic TP problem with the old EMC was lookahead, and
that was the problem that Robert tackled. A general
solution to executing a series of moves as fast as possible
while always obeying velocity and acceleration limits. I
can see why similar problems might come up in any kind of
motion system that makes complex movements.
Jon
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