May be you are interested on this http://www.imac.unavarra.es/jros/10ROS1.PDF
Obviously a forward and inverse kinematic model is used, plus a dynamic model that again uses an additional kinematic model. We are using a pretty complex kinematics. Results with atomization and numeric solver for the dynamics simulation (much more complex than direct or inverse kinematic, but using same numeric algorithms in the solution), we are having much better figures. Although numbers are not given I presume that times in the order of 1 e -6 s can be get in a modern i686 processor. I didn't knew that fortran could be integrated into kernel modules, so I'll have a look to your work, great!!. Cheers, Javier On Fri, Dec 13, 2013 at 6:53 AM, Frank Tkalcevic < [email protected]> wrote: > For those that are interested, I managed to get ikfast working with > linuxcnc. > > > > I've created an ikfast output generator to produce C code that can be > compiled as a realtime object. Closed form solutions don't link with > external libraries and are very fast. Numerical solutions use the lapack > libraries. To get this to work I extracted the lapack fortran files that > were needed, and patched the kernel makefiles to compile fortran. Although > this is technically feasible, numerical solutions appeared too slow. > Typical closed form solutions run at about 5-10us, while numeric solutions > are around 4ms! > > > > Details here http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Ikfast > > > > > > > > > > > ------------------------------------------------------------------------------ > Rapidly troubleshoot problems before they affect your business. Most IT > organizations don't have a clear picture of how application performance > affects their revenue. With AppDynamics, you get 100% visibility into your > Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics > Pro! > http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
