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NeuronRobotics / ServoStock

This is the repository for the bowler enabled, closed loop controlled 3d printer.
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Forward and Inverse Velocity Kinematic Model #14

Closed mdiblasi closed 10 years ago

mdiblasi commented 10 years ago

Forward and Inverse Velocity Kinematic Model

mdiblasi commented 10 years ago

Metric deadlines pushed back to coincide with Sunday group meeting.

ghost commented 10 years ago

2014-03-15 19 06 35

Some basic notes trying to relate joint velocities (A, B, and C dot) to tool velocities (x and y dot). This is from a basic geometric approach.

jayrad78 commented 10 years ago

While working on the project status report, it was decided to update the Ghantt chart to determine the Velocity Kinematics from 3/18/14 to 3/25/2014. This change in schedule will flow down into this issue due date, which will now be 3/25/2014.

ghost commented 10 years ago

Got some work done in Matlab here: https://www.dropbox.com/s/3vevy5coxjcg6aw/ProjectVelocityKinematics.m

This takes the forward kinematic equations from our C-code and uses them to form a Jacobian for velocity kinematic calculations. Trying to print the formula is still pretty messy as Matlab is done doing much simplification.

madhephaestus commented 10 years ago

Dropbox? that is kinda what the git repository is for. Besides, how would you attach that to an issue?

mdiblasi commented 10 years ago

I am currently converting it into the project and although it won't be completed and working it will be imported in with notes and commentary.

madhephaestus commented 10 years ago

Still if its source code, it should be in git...

ghost commented 10 years ago

Sorry about that; I wasn't sure if it should be added to Git or not as it was Matlab code. I agree that we should be keeping it in the repository.

ghost commented 10 years ago

I updated the code comments for the 'servostock_velInverse' function with commit 3f0e5f711c74f4cb701a71854b6b357fba1e1aa9 (forgot to reference this issue in the commit... still getting the hang of this). Hopefully this makes a bit more sense in terms of mapping my Matlab models into C-code.