Have looked on the general serial kinematics module and it seems the jacobian is calculated but never used. Also started to read thru the code for the trajoctory planner. Got the impression the trajectory planner does not handle velocity constraints for joints velocities or accelerations properly?
If this is the case. Anyone know if someone started a branch for this? Any other documents like for example scientific articles or similar on the topic? Regards Nicklas Karlsson _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
