While experimenting with the experimental probekins (http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ProbeKins) I ran into following errors in at discontinuites in the kinematics function.
For instance, if the Z value is modified in probekins according to the following correction function (color indicates Z correction), and traverse or feed move from 0/0 to 50/50 and onto 200/100, I get a joint 2 following error when the tool passes through 50/50: http://static.mah.priv.at/public/image.png Intuitively I'd guess the kinematics function needs to be continuous, and derivatives are related to maximum acceleration I'd be interested in finding out analytically wether a given kins function and their max discontinuity, and machine parameters, will create following errors when doing a traverse, and/or compute a maximum feed value without following errors - any hints? -- I guess the other alternative is to use a continuous function, like a cubic spline surface, but then I would assume the maximum second derivative limits dont just go away - Michael ------------------------------------------------------------------------------ Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
