I seem to recall somebody on IRC talking about jerk control (d3x/dt3). There is someone on the Forum extolling the virtues of jerk limitation on Fanuc machines, and I was wondering if it is likely to be introduced into EMC2.
My stopgap suggestion is a tweaked Limit3 component (limit4, I suppose) between the joint.position pins and the pid-input. (Though I do find myself wondering if the same effect might be realised by PID maxcmdDD in a velocity loop, perhaps?) -- atp "Torque wrenches are for the obedience of fools and the guidance of wise men" ------------------------------------------------------------------------------ Benefiting from Server Virtualization: Beyond Initial Workload Consolidation -- Increasing the use of server virtualization is a top priority.Virtualization can reduce costs, simplify management, and improve application availability and disaster protection. Learn more about boosting the value of server virtualization. http://p.sf.net/sfu/vmware-sfdev2dev _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
