Carl Mikkelsen wrote:
Jon,
The large-scale calibration is fairly well covered by the simulated annealing method of estimating the systematic error parameters. This discussion grew out of concerns about quantization, and (I speculate) that quantization will cause a surface roughness on nearly any surface machined with a hexapod.
The quantization-roughness may be far less than the roughness that comes from servo control system errors, vibration, chatter, or other effects.
Have you been looking at EMC for hexapod controls? Do you know if it can generate the transformed actuator commands, independent of the real-time actuator controls?
I'm not an expert in this area, but the general flow is :
G code interpreter
trajectory planner
kinematics
servo control
Since EMC can jog a hexapod in cartesian coordinates once the struts are homed,
I think that basically proves it can already do it.
Jon
