I spent some time going through the math behind it, and I think blending between linear moves with ABCUVW motion is feasible, though it will take a a bunch of new data structures to store a 9D vector.
There are two big challenges to making this work. The first is implementing a new way to interpolate along a spherical arc (SLERP), since we won't have a normal vector. The second is that tolerances become very hard to enforce with rotary movement. A small displacement in an ABC axis can mean a large tool displacement, and there it would likely be tough to predict this if TP treats all joints as independent and linear. Of course, we can simply have the algorithm abort if we ask for a tolerance, so this isn't a total deal-breaker. -Rob On Wed, Dec 11, 2013 at 11:20 AM, Ricardo Moscoloni <rmoscol...@gmail.com>wrote: > Rob: > a axis is along x, config is simple, just have to edit GEOMETRY = > -AXYBC in ini file. > i will send you a link sharing a folder in goog drive, theres config > files and some sample gcode, just let me know if you can se it! > theres no way i could run it smoothly, blending in rot axis is a must! > there is a way to implement it? could you expand the need of non > trivial kinematics in this case?, seems trivial to me. > Regards > rick > > > > 2013/12/9 Robert Ellenberg <rwe...@gmail.com>: > > On Mon, Dec 9, 2013 at 1:04 PM, Ricardo Moscoloni <rmoscol...@gmail.com > >wrote: > > > >> Hi Robert, > >> Im very interested in this too, are you trying to solve slow gcode or > >> smooth movement? or both? > >> > > > > I'm mostly trying to improve the speed of programs with small segments, > but > > part of that effort has improved the smoothness as well. The smoothness > > comes from a higher average speed, which means fewer dips in velocity due > > to short segments. I added an additional check that reduces velocity > > "ripple" in programs with short, similar-length segments. > > > > one problems i find doing a filament winder, linear X and rot A, was > >> the lack of blending between them. Also the different interpretation of > >> feed between linear and angular (regular feed or non inverse time feed > >> rate) cause trouble, when a move changes from linear to angular. > >> > > > > My work so far has just been cartesian motion in XYZ, so the current set > of > > changes may not help with A axis blends. I'm interested in expanding this > > to cover additional axes, but it's not as straightforward due to the > > non-trivial kinematics. Can you tell me more about the setup and motions > > you're using? For example, what orientation is your A axis? Can you send > me > > an example machine config and G-code? > > > > Axis backplot draw the gcode correctly, and keeps me thinking in a > >> manner to ensure constant surface speed doing blending based in tip > >> point absolute spatial speed calculations but my lack of programming > >> skills drop me. > >> Im willing to help in whetever i can....could you explain more about > >> your particular branch, i like to test it. > >> > > > > Here is the current branch if you're interested in running it: > > > > > https://github.com/robEllenberg/linuxcnc-mirror/tree/circular-blend-arc-alpha > > > > > > In particular, I could use feedback on how this code runs with axis > motion > > other than XYZ. It should gracefully fall back to parabolic blends, so > any > > issues you can find with this would be very helpful. > > > > Thanks! > > -Rob > > > ------------------------------------------------------------------------------ > > Sponsored by Intel(R) XDK > > Develop, test and display web and hybrid apps with a single code base. > > Download it for free now! > > > http://pubads.g.doubleclick.net/gampad/clk?id=111408631&iu=/4140/ostg.clktrk > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > ------------------------------------------------------------------------------ > 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-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ 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-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
