A robot as you mention very well may have all angular "joints" but X Y and Z are still linear axis even if they don't directly correspond to any physical part of the machine. (IMHO The day the fixes in the JA branch finally become main stream can't come too soon.)
----- Original Message ----- From: "Marius Alksnys" <marius.alks...@gmail.com> To: emc-users@lists.sourceforge.net Sent: Friday, November 27, 2015 2:10:06 PM Subject: Re: [Emc-users] calling Todd Z 11/23/2015 11:50 PM, sam sokolik rašė: > Rob has been in his zone again.. He has expanded circular arc blending > into uvw axises. > > https://github.com/robEllenberg/linuxcnc-mirror/tree/feature/uvw-blending-dev > > we were wondering if you could run it and see if you find any issues. > Rob and I have hammered on it a bit. so far so good. > > sam > > ps - still falls back to parabolic (1 segment look ahead) for abc > axis. Rob says > > 'There are a few obstacles to rotary axis blending still. The biggest > one is that the units for linear axes and angular axes are different, so > tolerances, arc radius, and similar properties are ambiguous. I have > some ideas to work through, though, so it may be doable.' > Not in all cases XYZ are linear and ABC are angular. For example, 6-axis robots controlled from robot physics/kinematics savvy CAM G-code - all axes might be angular. Some custom machines might use axes in all possible ways. And all-axes smooth blending is very important thing to have, but different arc-blending tolerances for each axis is a thing to discuss. Could they be programmed in g-code as some G64.0, G64.1, G64.2, G64.3, .. G64.8 parameters? And / or set them from ini file at startup. Any other / better suggestions? ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
