You're absolutely right, trajectory planning is a challenging task.
Our journey started about 20 years ago with milling and EDM machines. Back then, we were developing our software in C/C++ on DOS 6.22. I still remember spending days debugging our milling and EDM applications.
You can take a look at some of our old DOS applications here:
doscapture.fahriworks.com/
Later, we moved on to plasma cutting machines, and now I'm working on a laser cutting machine using Linux, Xenomai, and EtherCAT.
Your points about reliability and keeping the GUI separate from real-time motion control are very valuable. Thank you for sharing your experience and advice!
