I also have a few observations to add. I am not sure if it relates to
Marius's problems. With coordinate kinematics for a 4-, or 5-axis
machine simulation, ie. not
using trivial kinematics but XYZA and XYZAC kinematics, I dont get
uncontrolled rotations of the rotary axes. Their speeds can be
controlled by feed override
and ini parameters and the moves seem to be always coordinated.
However in all the 6 axis robots I have simulated (PUMA, PUM560, and my
own models), I get instantaneous rotations of certain axes under certain
conditions.
It typically happens with joint3, which rotates the forearm around its
axis. One example is when the inverse kinematics requires a perfectly
valid rotation of 90 degrees in order for the wrist to rotate around its
axis in a 90 degree rotated direction. This joint3 rotation seems to be
uncontrollable with regards to speed and acceleration.
Looking at the core-sim.hal and core-sim-9.hal files that are used in
simulations, one finds differentiator functions that are used to
generate velocity and acceleration only for the x, y, and z axes. That
makes my experience with 4- and 5-axes simulations even more confusing.
regards
Rudy
------ Original Message ------
From "Marius" <mar...@bluearccnc.com>
To emc-developers@lists.sourceforge.net
Date 2023/07/05 20:00:16
Subject Re: [Emc-developers] Trajectory planner shortcomings
I am not sure who was involved with that but as I mentioned there are many of
us that will chip in. This is really a big thing and very important I would
think.
Who are the powers that decide about things these days? How do we draw
attention?
On 2023/07/05 18:05, Chris Morley wrote:
Has anyone contacted the developers that worked on tormach's updates?
Could probably guess who was involved.
I would be willing to chip in for updates to the trajectory planner.
________________________________
From: Marius<mar...@mastercut.co.za>
Sent: July 4, 2023 5:30 PM
To:Emc-developers@lists.sourceforge.net <Emc-developers@lists.sourceforge.net>;
Enhanced Machine Controller (EMC)<emc-us...@lists.sourceforge.net>
Subject: [Emc-developers] Trajectory planner shortcomings
Hi
I have been trying to get a rotary fourth axis setup going with the help
of regular and knowledgable contributors to LinuxCnc. We came up against
a brick wall as many other project developers have done.
The problem seems to be that our trajectory planner lack the ability to
look ahead for any rotary axis. This means that a coordinated move that
includes a rotary move will be dysfunctional at best.
I understand that there is a free trajectory planner on offer to
LinuxCnc but it has not been integrated. It would seem that some lack of
skills or time has a role to play in getting it integrated.
I unfortunately do not have the skills nor the time to tender to assist
with this however, someone made the suggestion that maybe the community
could embark on a fund raising project to enable us to pay for someone
to get the trajectory planner integrated. I am sure that many would
stand to benefit from this and other users that I have spoken to has
indicated that they would gladly contribute.
I would at least want to start a discussion around the idea.
Regards
Marius
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