2011/12/17 Michael Haberler <[email protected]>: > actually it probably can go into a kinematics module, like below > > I think it could work out as follows: > - take grid of Z probes > - compute surface parameters and pass to kinematics module via HAL pins > - mill unmodified G-code > > The advantage would be - beyond 'no gcode translation needed' that it would > be a continues (non-gridded) correction process > > pcbkins.c ;): which is basically trivkins.c except if model parameters are > non-zero: > > HAL_FLOAT p1,p2,...pN; // HAL pins convey model parameters > double zcorrect(double x,double y) { /* exercise for reader, uses model > parameters */ } > > int kinematicsInverse(const EmcPose * pos, > double *joints, > const KINEMATICS_INVERSE_FLAGS * iflags, > KINEMATICS_FORWARD_FLAGS * fflags) > { > joints[0] = pos->tran.x; > joints[1] = pos->tran.y; > joints[2] = pos->tran.z + zcorrect(pos->tran.x, pos->tran.y); > > computational geometry isnt my forte but I assume there is a way to > approximate z, within a given error, a probed mesh by a simple parametric > function from x,y; maybe splines or somesuch >
Michael, I like proposals fo solving different tasks in kinematics module :)) I understood everything except that I have no idea, how do You intend store the probed surface and then feed into kinematics module through HAL pin. It seems to me that creating a mesh from probed points will require to extend EMC to be able to do so and then there needs to be some tool that reads that mesh and tells, what is Z in a given X,Y point. Viesturs ------------------------------------------------------------------------------ Learn Windows Azure Live! Tuesday, Dec 13, 2011 Microsoft is holding a special Learn Windows Azure training event for developers. It will provide a great way to learn Windows Azure and what it provides. You can attend the event by watching it streamed LIVE online. Learn more at http://p.sf.net/sfu/ms-windowsazure _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
