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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
734 stars 166 forks source link

Set synchronization and interface for every DOF #53

Closed Danielxyz123 closed 3 years ago

Danielxyz123 commented 3 years ago

Hi Pantor,

it would be nice to deactivate the synchronization for every DOF. It could be usefull for some applications. Furthermore the same thing with the interface (velocity/position)-mode. It would be very nice to synchronize for example one of the dofs with velocity and the others with time.

It's not for a "classic" robot application, but i have a lot of use cases where i could need something like this.

What do you think about that.

Thx and many greetings

Daniel

pantor commented 3 years ago

Hi Daniel,

I'm just curious: What is your use-case for this? In principle, this should be easy to implement, although I'm not sure if the additional complexity is worth it...

Danielxyz123 commented 3 years ago

Hi,

for example there is an system of an linear servo axis and an servo droven drum/roll. There should be a part of the movement where the velocity of the linear axis and the drum should be the synchronized. But, the linear axis needs the velocity at a given position (position mode - time synchronized), for the drum is the position not important (velocity mode - time synchronized).... Currently those things are usually solved with a set of 5th oder polynoms, it takes a lot of time to get it working.

Another example.. There is a 3 DOF grasping system where one of the DOFs is an conveyor. Is has to feed the material to the grasping system (velocity mode - unsynchronized only this single axis) and in addition is has to be the third DOF while the system is grasping (position mode - time synchronized of all 3 axes).

I think it would be very usefull for a lot of users.. "real-robots" are only one part in the industrial machine buildung.

pantor commented 3 years ago

The latest commit adds the members per_dof_control_interface and per_dof_synchronization to the input class:

// Sets the control interface for each DoF individually, overwrites global control_interface
std::optional<Vector<ControlInterface>> per_dof_control_interface; 

// Sets the synchronization for each DoF individually, overwrites global synchronization
std::optional<Vector<Synchronization>> per_dof_synchronization;

Thanks for your input!

Danielxyz123 commented 3 years ago

Works fine! Thx :-)