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NeuronRobotics / ServoStock

This is the repository for the bowler enabled, closed loop controlled 3d printer.
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Velocity Kinematics Test Cases #19

Closed ghost closed 10 years ago

ghost commented 10 years ago

Generate test cases for C Code implementation of velocity kinematics and ensure they match both Matlab simulation and hardware test.

ghost commented 10 years ago

Test Case Data:

Joint position: 160, 180, 180 mm Task position: 0, -14.71, 21.35 mm

Desired Task velocity: 100, 0, 0 mm/s C Code Calculated Joint velocity: 0, -73.5167, 73.5167 mm/s Matlab Calculated Joint velocity: 0, -76.2400, 76.2400 mm/s

Desired Task velocity: 0, 100, 0 mm/s C Code Calculated Joint velocity: 107.7390, -33.1752, -33.1752 mm/s Matlab Calculated Joint velocity: 88.0300, -44.0200, -44.0200 mm/s

ghost commented 10 years ago

Additional Test Case Data:

Joint position: 160, 180, 180 mm Task position: 0, -14.71, 21.35 mm

Desired Task velocity: 0, 0, 100 mm/s C Code Calculated Joint velocity: 100.0000, 100.0000, 100.0000 mm/s Matlab Calculated Joint velocity: 100.0000, 100.0000, 100.0000 mm/s

Desired Task velocity: 50, 100, 25 mm/s C Code Calculated Joint velocity: 132.7390, -44.9335, 28.5832 mm/s Matlab Calculated Joint velocity: 132.7491, -44.9287, 28.5870 mm/s

These results are an adequate test case of the velocity functions.