[Home]History of CommandChain

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Revision 18 . . (edit) April 3, 2008 6:21 am by SWpadnos [typo in tasker.pdf link]
Revision 17 . . November 23, 2005 8:00 pm by cs181133200.pp.htv.fi
Revision 16 . . November 23, 2005 7:59 pm by cs181133200.pp.htv.fi
  
Difference (from prior major revision) (minor diff, author diff)

Changed: 2c2
http://www.linuxcnc.org/Dropbox/tasker.pdf
http://www.linuxcnc.org/dropbox/tasker.pdf

Changed: 65c65,67
A1: in the same way as you have put geometry planning (line->spline, circle->spline,helix->spline) on the non-realtime side and a geometry interpolator (spline-interpolator) on the realtime side, I think that the trajectory planning can be done on the nonrealtime side and a separate trajectory interpolator runs on the realtime side. afaics nurbs are ok for geometry, and 3rd or 4th order (jerk limited or double jerk limited) trajectories would be the way to go. (just some thoughts by AW)
A1: in the same way as you have put geometry planning (line->spline, circle->spline,helix->spline) on the non-realtime side and a geometry interpolator (spline-interpolator) on the realtime side, I think that the trajectory planning can be done on the nonrealtime side and a separate trajectory interpolator runs on the realtime side. afaics nurbs are ok for geometry, and 3rd or 4th order (jerk limited or double jerk limited) trajectories would be the way to go.
An interesting question is also where the realtime/nonrealtime boundary goes wrt. kinematics i.e. axes/joints ??
(just some thoughts by AW)
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