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Home Forum Other Stuff OT Posts Double S velocity profile and max speed

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TOPIC: Double S velocity profile and max speed

Re:Double S velocity profile and max speed 16 Июл 2012 08:22 #22004

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diegoroman17 wrote:
I think I can handle this task. I have programmed the algorithm for double S velocity profile in matlab.
I think it is relatively easy in 1 dimension. does your algorithm handle 9 axes and non-trivial kinematics?
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Re:Double S velocity profile and max speed 16 Июл 2012 09:14 #22008

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Not really. My algorithm is generic. It compute the final of the robot to obtain double S velocity profile. Later is necessary to compute the kinematic inverse of the robot and obtain us the position in function of time. I have simulated my algorithm in two dimension with x y axis with NURBS curves and don't have problems with this.
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Re:Double S velocity profile and max speed 16 Июл 2012 09:24 #22010

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diegoroman17 wrote:
Not really. My algorithm is generic. It compute the final of the robot to obtain double S velocity profile. Later is necessary to compute the kinematic inverse of the robot and obtain us the position in function of time. I have simulated my algorithm in two dimension with x y axis with NURBS curves and don't have problems with this.

That sounds distinctly promising, certainly.

I _think_ the current trajectory calcs are done here:
git.linuxcnc.org/gitweb?p=linuxcnc.git;a...5f491215f3c8;hb=HEAD
But I might be wrong.
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Re:Double S velocity profile and max speed 16 Июл 2012 10:30 #22017

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I think it is relatively easy in 1 dimension. does your algorithm handle 9 axes and non-trivial kinematics?
I guess a large majority used LinuxCNC with 2-axis (lathe) or 3-axis (mill / gantry), then a short term goal may be to limit the project to G0 only with 2 or 3 axes without non-trivial kinematics as an alternative to the current (and proven) trajectory planner. May be it could be selectable by configuration file.
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Re:Double S velocity profile and max speed 16 Июл 2012 13:29 #22032

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Ok. My question is how can I add this new profile to trajectory planner of LinuxCNC? Where is the trajectory planner in the source code?The idea of begin with G0 only is perfect to evaluate the performance.
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Re:Double S velocity profile and max speed 17 Июл 2012 06:31 #22075

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diegoroman17 wrote:
Where is the trajectory planner in the source code?
I think it is in src/emc/kinematics/tp.c but it might be tc.c. There is an outside chance that it lives in src/emc/motion but I don't think so.
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