On Thursday, January 6, 2022 10:58:56 AM EST Peter C. Wallace wrote: > On Wed, 5 Jan 2022, Chris Albertson wrote: > > Date: Wed, 5 Jan 2022 19:38:46 -0800 > > From: Chris Albertson <albertson.ch...@gmail.com> > > Reply-To: "Enhanced Machine Controller (EMC)" > > > > <emc-users@lists.sourceforge.net> > > > > To: "Enhanced Machine Controller (EMC)" > > <emc-users@lists.sourceforge.net> > > Subject: Re: [Emc-users] Very good software backlash control demo. > > > > this robot that loads pencil leads it really just a software testing > > device. A research tool. What is new here s not the idea too use two > > sensors but > > > > 1) use a predictive model that says how the system will flex in the > > future in s given acceleration is apllied. > > > > 2) collect data while the machine is running in so that the above model > > is up to the millisecond calibration data. Notice the robot starts by > > slowly placing the lead in that speeds up at the end. The author said > > this is because the machine runs only as fast as it as confidence on > > the predictive model. Once you start an operation you coect data and > > can speed up in real time. > > > > To do this on a mill you would need glass encoders physically connected > > to the table, a rotary encoder on the servo motor. > > But really, you need sensors any place that can inform your physic > > model. > > > > Again what is new here that LCNC doe not do is attempt to predict in > > advance the effect of changing the motor torque. A PID loop, ow two > > nested PID loops can ONLY see error after the fact. PID is reactive. > > But real world machine always have a delay between applied torque and > > action because the physical material (even cast iron) is elastic. > > Snip------------------------------------------------------------- > > This is not something that LinuxCNC does or does not do, > that reflects a misunderstanding of LinuxCNC's architecture. > LinuxCNCs PID is an optional hal component, as is LinuxCNC's > Kalman filter... Perhaps, Peter or Chris, a post describing what that filter CAN do is in order. I've looked at its man page but if there was a useful function there I didn't trigger on it.
And here, the web links are inactive plus it doesn't copy/paste. Is that supposed to work? Man underscores the links but nothing happens. > > Chris Albertson > > Redondo Beach, California > > Peter Wallace > Mesa Electronics > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > . Cheers, Gene Heskett. -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author, 1940) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
