Trajectory Planner using Ruckig Lib

Hi Arciera,

I can write gcode file output tomorrow, but clothoids & splines must then be converted to a G1 linestrip.
Then the overall output is G1,G2 or G3.
Is this ok for you?

Don't worry about it, it's really not important.

Hi Arciera,

Ok, I will not worry about it.

I tried a free gcode file, a griffins logo. File about 14000 lines.
www.cnccookbook.com/g-code-examples-file...for_Milling_Machines

In the file no G64 P.. Q.. was given. Raw output :
 

Then i added G64 P0.1 Q0.1
The output : 


Then without the velocity display :
 

The purple are all clothoids. Cyan is spline, White is line.

File specs :
items G64 P.. Q.. before:14151 after:28292 diff:-14141
So the gcode file is increased by 14141 segments.

Maybe test some more files?

 

Hm, as usual I'm concerned about unwanted path distortion:

 

I presume these splines were added by the algorithm, if so it seems like a lot of distortion for 'G64 P0.1 Q0.1'?

Hi Arciera,

That is the result of using a 0.1 fillet.
Here is a 0.01 fillet for comparishment.

 

I understand that lowering the value will create smaller deviations. What I'm concerned about is the predictability of the maximum deviation a certain G64 Pn Qn command is going to produce as knowing this is crucial for CNC application.
I know we've had this discussion before but if 'G64 P0.1 Q0.1' means a maximum path deviation of 0.1 mm then those white GCode lines would have to be 0.1mm apart which seems a bit hard to believe (but of course I do not know for sure).