paper: Trapezoidal Motion Profile Generator

[Ether]

Thread created automatically to discuss a document in CD-Media.

Trapezoidal Motion Profile Generator (http://www.chiefdelphi.com/media/papers/3107?) by Ether

[JesseK]

I see that this is desired behavior, but how do we poke the robot so it does what we want?

Is 'v' proportional to the motor output? Seems like we would tune 'amax' until the robot drives the desired distance in the desired time.

Is motor output a combination of 'v' and the different between actual 'x' and desired 'x'?

[Ether]

Hi Jesse, I answered your question here:

http://www.chiefdelphi.com/forums/showthread.php?t=134965

@all: please use the above link for any further discussion. Thanks.

[Paul Copioli]

Ether,

I am curious as to why you are proposing this equation based method when the filter based method posted from post #18 in this thread:http://www.chiefdelphi.com/forums/showthread.php?t=98358&highlight=motion+profile

The filter method is so much more real time friendly and flexible as you can determine the motion acceleration type just by manipulating the filter lengths.

Paul

[Ether]

Greetings all:

Please continue the discussion in this thread:

http://www.chiefdelphi.com/forums/showthread.php?t=134965

Thank you !