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scurve trajectory planner
- Grotius
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- Aciera
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- Grotius
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1 year 8 months ago #322047
by Grotius
Replied by Grotius on topic scurve trajectory planner
@Arciera,
Today i started coding the clothoid compound fit using the gsl solver. It worked right away.
I think because yesterday we did it succesfully for just one clothoid.
This is really a milestone for us !!!
What we see here is a 3d clothoid spline, build from 4 individual clothoids, given start, end posture.
Given the abstract :
"Space corner smoothing of CNC machine tools through developing 3D general clothoid"
by Qun-Bao Xiao, Min Wan, Yang Liu, Xue-Bin Qin, and Wei-Hong Zhang.
Published in Robotics and Computer Integrated Manufacturing, Volume 64, 2020.
However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.
Somewhere in the code is a buggybug.
and or alien obstruction.
I think in eq45 where the constrains of the joints are calculated must be something signed to "-" ?
Today i started coding the clothoid compound fit using the gsl solver. It worked right away.
I think because yesterday we did it succesfully for just one clothoid.
This is really a milestone for us !!!
What we see here is a 3d clothoid spline, build from 4 individual clothoids, given start, end posture.
Given the abstract :
"Space corner smoothing of CNC machine tools through developing 3D general clothoid"
by Qun-Bao Xiao, Min Wan, Yang Liu, Xue-Bin Qin, and Wei-Hong Zhang.
Published in Robotics and Computer Integrated Manufacturing, Volume 64, 2020.
However if you look closely at the individual clothoid curve transitions there is a tiny change in curvature.
Somewhere in the code is a buggybug.
I think in eq45 where the constrains of the joints are calculated must be something signed to "-" ?
Code:
// Start point.
double xs = 0.0;
double ys = 0.0;
double zs = 0.0;
// Target point.
double xe = 520.05;
double ye = 266.50;
double ze = 125.50;
// Start angles, end angles.
double degrees_xy_start = 45.0;
double degrees_xy_end = 0.0;
double degrees_z_start = 0.0;
double degrees_z_end = -45.0;
Code:
Converged after 315 iterations
Solution found: gamma10 = 0.000000, gamma20 = -0.000000, s1 = 198.587624
endpoint x: 520.050004 y: 266.500006 z: 125.499999
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- Aciera
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1 year 8 months ago #322051
by Aciera
Replied by Aciera on topic scurve trajectory planner
I can't quite tell from your repo so you may already have but just in case:
Remember that we need to run eq 45 with the gamma11, gamma21 and s1 values found with dogleg. With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.
Remember that we need to run eq 45 with the gamma11, gamma21 and s1 values found with dogleg. With the 6 resulting gamma values it should then satisfy G1, G2 and G3 continuity.
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