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I may not completely understand how to solve my task. But as I understand, after the Ruckig library, I need to learn how to use a trajectory planner. Maybe you didn't quite get that it's not just linear movements, but also circular interpolation, splines, etc. Additionally, I plan to use this system with a ToF camera in the future, which will create a relief map, and the robot will need to navigate obstacles to grab the object. 

The component in the previous message is very close to what you require. The only part missing is the check of the inductive sensors that ensure the gear is engaged.

For rigid tapping you can get away with fewer pulser per rev than you might think, but more is better (up to the point that you can't count them any more)
You definitely need an index pulse, and you definitely need full quadrature. Anything around 25 slots or higher will work fine.

@Rosalyk,

If you don't need gcode, you can just use ruckig or any other scurve lib.

Ruckig works excellent if you dont need velocity ends, acceleration ends, don't need waypoints.
Then if you need to get a to position xyz, then interpolate the scurve over a 3d line.

Where lies your problem?


 

Hi hmnijp,

Thanks for your mayor contribution again.

comparing code execution time with the old planner and other cnc
Yes this we can add on the todo list.

it is obvious that S-curves are slower on a trajectory with sharp corners.
This is just for info, in theory the scurve should use at least the same time as a trapezium curve.
 

I can share a test G-code similar to the one used in real work, which I used to adjust the PQ parameters of the post processor.
I found the P value, but the Q value, i still not found.

We need to figure out how to solve the problem of mixing linear and rotary axes at the same time.
This entiry abc uvw external axis section has to be coded in a proper way it will work out the different solutions.
Like in a science paper we must have a function flow paper. That walks it's way to the solution and is
reviewed by multiple people.

3) The linuxcnc interpreter has support for interpolation G5 Cubic Spline, G5.1 Quadratic Spline, G5.2 G5.3 NURBS Block -
Yes, in the past i have tried this.
If the planner has good smoothing algo's, maybe just let the planner do the work.

@Arciera,
When using 5 axis machine gcode.
The trajectory planner does the path blending offline now.

This is really nice! You can see the blended path before program start.

So when runnig the program online it's just following the blended path.
In theory it's not blending anymore, just following a blended path.

** A new development would be to update the blended gcode in the gcode viewer.
Adding the tri_clothoids or other exotics within the gcode.
This would simplify the trajectory planners execution, restart, pause etc.

Then the tool position xyz and tool orientation abc are just following the exact blended
path coordinates. Then synchronized motion xyz abc uvw is done by a function derived from
a function flow science paper.

Or do you think something else is better?

Hello, I would like to know if you managed to do this retrofit without changing the original drivers ? Could you update us ?

Why not simply use

$ sudo nano /etc/default/grub

edit the file

then hit <ctrl>+X and Y then Enter to save.

[edit]

Are you referring to this grub modification?
forum.linuxcnc.org/38-general-linuxcnc-q...-irq-affinity#292969

Not sure if you want that but there is also a script at the end of that post that should do it all automatically.

Mit 'HOME_SEARCH_VEL' und 'HOME_LATCH_VEL' = 0 kann das Referenzfahren auch nicht funktionieren.
Vielleicht hilf das hier weiter:

Seems to me that this motion comes to a full stop at the end of every segment. Wouldn't we want all these short segments to be blended into a single acceleration phase in the first few segments then a constant velocity over most of the following segments and a deceleration phase over the last few segments?

Essentially, I need to implement Pick and Place movements with conveyor tracking. I spent all day yesterday trying to install MoveIt2, but ultimately without success. ROS2 also needs to be installed, and I haven't managed to install any version of it either. I don't know where the problem lies. GPT suggested installing it in a Docker container, but that's not an option for me. If anyone has experience installing ROS2+MoveIt2 on Debian 12, I would love to hear about it.

I then tried to install Tesseract Planning, but it was not very successful either. One repository is broken or something like that. Ultimately, OMLP installed without any issues. It installed and compiled without major problems. The test program with Task thread Hal doesn't give any errors or latency warnings. However, the functionality and applicability are still unknown. Perhaps other libraries would be more suitable, but installing them has proven to be difficult.

@Andrew,

Here is the scurve doing 100 segments:

 Hallo,

gmocappy: alle Achsen verfahren in die richtige Richtung. home z Endeschalter lößt nich aus.

Home Fahrt aller Achsen nicht möglich. Verfahrgeschwindigkeit läßt sich nicht erhöhrn.Ich habe folgendes auf null gesetzt. Nullpunkt ohne Endschalter...
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 1
Ich kann ein testprogramm laufen lassen, Verfahrgeschwindigkeit zu langsam, läßt sich nicht ändern..
Oder anders ausgedrückt, ich finde es nicht...

Bitte um hilfe 

2) We need to figure out how to solve the problem of mixing linear and rotary axes at the same time - this is a big problem with the current planner - it does not do smoothing when connecting any rotary axis, and this problem does not allow working with rotary axes at sufficient speed. A solution to this problem has been requested by all A/BC axle users for many years...

I think that this would require blending tool position and tool orientation separately with deviation constraints defined for each.
 

Fantastic design, do you have any details on the electronics and the motor used to swivel the head please and how to drive this movement? Many thanks Mike

Many ways to solve this

For beginners I recommend installing visual studios code as it can edit things in sudo mode

code.visualstudio.com/

1. Download the .deb file
2. It will show up in your downloads folder

To install it

3. Navigate to downloads folder in terminal or by going to the file explorer and right clicking when in downloads and select "open terminal here

The type "sudo dpkg -i code" then hit the tab button and it'll fill out the rest of the file name (it needs the entire file name, tab auto fills things once it only has one option)

That should install it

Now navigate to the grub file in file explorer, right click and select open with code.

Now you can edit like any text editor. When you save you will get an error saying run as sudo and click yes. That should solve it

Vs code is also great for editing gcode files and such

I have a problem installing Mesa Configuration Tool.
I followed the installation procedure with this link

gnipsel.com/linuxcnc/mesact/index.html

when I try to open it by clicking applications -> linuxCNC -> Mesa CT, nothing happens.

when I try to start it from the terminal, this message appears.



am i forgetting something?