I'm not sure about all this yet, brainstorming here... After looking at TinyG code for handling jerk limitation in the joint control it appears that they are using the forward physics equations and numerically integrating to avoid violations.
Since numerical integration needs to be used for jerk equations (as well as snap crackle and pop...) The forward kinematic equations will need to be fed into the integrator for non trivial kinematics. The integrator should be pluggable as well. We should find an open source library for this as numerical integration methods are always advancing and high performance integration is not easy to implement. On Sun, Aug 29, 2021 at 11:55 AM Andy Pugh <bodge...@gmail.com> wrote: > > > > On 29 Aug 2021, at 11:40, Alexander Brock <a.br...@hhv-rheinklang.de> > wrote: > > > > The idea can be implemented in C and for simple cases like 1D funktions > > it should be fairly straight-forward. > > My point is that the kinematics modules already exist, and not all of > them are under our control. Various users’ machines are out there with > their own custom kinematics. > Also, AFAIK if they are kernel modules then they have to be written in C. > > Hence my suggestion of calling the kinematics function repeatedly to > perform simple numerical differentiation. > > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
