Printers talk postscript while CNC machines talk g-code, well not always but quite often.
> As an example look at the two articles in December and February Circuit > Cellar Magazine by Raul Alverez-Torrico on building a 4-DOF robotic arm. > https://circuitcellar.com/ > > He uses Matlab to do the kinematics (described in the Feb issue) but uses his > own serial protocol for moving each motor through an angle. (Figure 1) > > He uses Matlab to do the kinematics (described in the Feb issue) but uses his > own serial protocol for moving each motor through an angle. Figure 5. > It could just as easily have been G-Code. Or he could have used a program > to interpret his special commands and translate them into G-Code and then run > an arm via LinuxCNC. Used Simulink/Matlab and what's good with Simulink is it show signal flow but it's a delusional target. Get feeling it is all easy but to understand how the to set the gain in feedback or other calculations there is no other choice than read the theories behind. Basic operations are more or less algebra unless you have blocks someone else already wrote and I find most often equations are easier to read in textual form especially if they have nice typesetting, would be interesting with a programming language allowing variable named formatted with LaTeX typesetting. Simscape or Modelica might provide more help as you could draw ordinary schematics instead of manually entering equations as is done in Simulink. To calculate feedback gains transformation of these schematic to state space form which may be linearised to linear state space form if needed is very useful. There are plenty of literature available for linear state space form which is a more or less standard form to model dynamic systems so it is very useful. > The point is that he's using a small UNO for the embedded controller and a PC > for the trajectory planning. > John Dammeyer Real time in UNO and others in PC? Regards Nicklas Karlsson _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
