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Posted by crmay on May 26, 2008, 9:31 am
Please log in for more thread options > leo wrote:
> > We have the portal robot with two axis X and Y. For each axis we have
> > the servo drive that we can write in the trajectory values every 2
> > msec.
>
> > From this trajectory the drive will calculate the velocity and
> > acceleration. If we have two points P1 with coordinates X1 and Y1 and
> > P2 with coordinates X2 and Y2 we have to find the blendig function
> > between these two points. It would be the function P(t) which is a
> > polynom of the 5th order with coeficients C0, C1, C2, C3 and C4. The
> > coeficients are known if we know the velocity, acceleration and
> > coordinates of the points P1 and P2.
>
> > My question is: How can I get values X(t) and Y(t) at the moment t if
> > I have the function P(t).
>
> > For example at the moment t=3D2msec the value of the polynom would be:
>
> > P(2msec) =3D C0 + C1*2msec + C2*(2msec)^2 + C3*(2msec)^3 + C4 *
> > (2msec)^4 + C5 * (2msec)^5
>
> > How can I get values X(2msec) and Y(2msec)?
>
> Isn't P(t) a multivalued function? =A0In other words, doesn't each
> coefficient have two components, one for x and the other for y?
>
> P1 and P2 each have two components...
>
> - Daniel- Hide quoted text -
>
> - Show quoted text -
Hi Leo,
This is interesting stuff,
Can you please explain the function more?:
> > P(2msec) =3D C0 + C1*2msec + C2*(2msec)^2 + C3*(2msec)^3 + C4 *
> > (2msec)^4 + C5 * (2msec)^5
if you only have two axis, then the polar coordinate system:
http://en.wikipedia.org/wiki/Polar_coordinates
might be of some use?
crm
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> the servo drive that we can write in the trajectory values every 2
> msec.
>
> From this trajectory the drive will calculate the velocity and
> acceleration. If we have two points P1 with coordinates X1 and Y1 and
> P2 with coordinates X2 and Y2 we have to find the blendig function
> between these two points. It would be the function P(t) which is a
> polynom of the 5th order with coeficients C0, C1, C2, C3 and C4. The
> coeficients are known if we know the velocity, acceleration and
> coordinates of the points P1 and P2.
>
> My question is: How can I get values X(t) and Y(t) at the moment t if
> I have the function P(t).
>
> For example at the moment t=2msec the value of the polynom would be:
>
> P(2msec) = C0 + C1*2msec + C2*(2msec)^2 + C3*(2msec)^3 + C4 *
> (2msec)^4 + C5 * (2msec)^5
>
> How can I get values X(2msec) and Y(2msec)?