On Mon, Apr 18, 2011 at 7:37 PM, andy pugh <[email protected]> wrote:
> 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.
>
> We did implemented the jerk control for EMC2 months ago. The code is
available at git://github.com/artek/emc2.git . It was branched from
joints_axes3.
Our jerk implementation is for S-curve velocity profile of trajectory
planner.
It's goal was to smooth the sharp acceleration motion of our SCARA robot:
http://youtu.be/EwfhjVV7D7Q
http://www.youtube.com/watch?v=QgTnQZVXvB4
Our plasma cutting table was also benefiting from it:
http://www.youtube.com/watch?v=BraEMAu5UkY
For detail about our JERK implementation, please refer to the "tcRunCycle()"
of
https://github.com/artek/emc2/blob/master/src/emc/kinematics/tp.c
For a sample JERK config setting, please refer to "JOINT_*" section of
https://github.com/artek/emc2/blob/master/configs/ara/usb4axis-stepper.ini
Yishin Li
--
ARAIS ROBOT TECHNOLOGY
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