Trajectory Planner using Ruckig Lib

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13 Jul 2024 13:33 #305081 by Aciera
Replied by Aciera on topic Trajectory Planner using Ruckig Lib

If you still keep core dump, i can edit the appimage to run Using POSIX non realtime


How do I do that?
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13 Jul 2024 13:56 #305083 by tommylight
Replied by tommylight on topic Trajectory Planner using Ruckig Lib
Yup, this is non RT kernel, will try on a RT kernel later.
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13 Jul 2024 14:50 - 13 Jul 2024 14:52 #305085 by tiagounderground
Replied by tiagounderground on topic Trajectory Planner using Ruckig Lib
same here on the rt kernel on debian 12, try to start the AppImage the terminal just hangs there, no output at all
Last edit: 13 Jul 2024 14:52 by tiagounderground.
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13 Jul 2024 14:54 #305086 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
@Arciera,

How do I do that?
Using the cmake system, compile everything and then run it. When u use no sudo for the "cmake make install" step,
it will run non-realtime. I will do that, but now i have no time to do that. Family visit.

 
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13 Jul 2024 14:58 #305087 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
@Tommy,
I think it's not related to rtai or something like that.

@Tia,
same here on the rt kernel on debian 12, try to start the AppImage the terminal just hangs there, no output at all
Maybe i will try it myself on a virtual machine. If this works, then it supposed to work at other places.
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15 Jul 2024 10:58 #305223 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi,

I found a paper that has the info to create a 3d clothoid 4 segment spline. Ideal to create 3d fillets for gcode.

Now is anyone able to help convert this paper into c or c++ code?

clothoid_3d_paper
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15 Jul 2024 15:00 - 15 Jul 2024 15:03 #305236 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi,

Today i was creating the G5 for spline.

Here it tells us to use incremental offset's for i,j in g17 plane. It seems to lcnc uses a 2d spline.
g5 linuxcnc

Then i thought why not use absolute point values for a spline?
Here is my proposal to use a spline in gcode.

It start with a G5. Then every line has a x,y,z point, until another gcode appears.

And the result :
Attachments:
Last edit: 15 Jul 2024 15:03 by Grotius.
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15 Jul 2024 15:52 #305246 by Aciera
Replied by Aciera on topic Trajectory Planner using Ruckig Lib

Here is my proposal to use a spline in gcode.

You probably know how it is with GCode and Splines. Decades ago, when memory was expensive, they were interesting because they reduce file size (as do arcs). As discussed a few pages back on this thread, modern multiaxis CAM/ Postprocessors produce G1 line segments only, they don't even bother with G2/G3 arcs (R vs IJK, Absolute vs Relative). Since processing power and memory have become so cheap the interest in splines has all but disappeared. That is why nobody really uses them. If you asked somebody to create a postprocessor that uses splines, I guarantee the question would be: WHY?
So, unless you have found a new and compelling reason for using splines instead of lines (and arcs) you are flogging a dead horse.     
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15 Jul 2024 17:49 #305255 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi Arciera,

That's the case. Flogging a dead horse.

I also never used splines in gcode.
However we need a 4pnt spline to do the exotic path blending fillets where the clothoids are out of plane, or invalid.

Integrating the spline is not that much work.

 
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15 Jul 2024 18:14 #305257 by Aciera
Replied by Aciera on topic Trajectory Planner using Ruckig Lib

However we need a 4pnt spline to do the exotic path blending fillets where the clothoids are out of plane, or invalid.


That is what I suspected. I don't think there would be many objections to modifying spline syntax if it helped getting jolt limiting path blending for multi axis gcode working.

I'm afraid I can't help you with implementing the linked 3d clothoid algorithm.
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