Help with S-Curve Generator

[Necroterra]

Originally Posted by Ether

You could do both:

Put the Talon in closed-loop speed control mode.

Generate x(t), v(t) , and a(t), and use those with a cascaded controller.

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Is that link from a textbook or is it something you could link me too? I would love to see the explanation / derivation of that.

[Joe Johnson]

I have to get smart on this because I fear that my info may be out of date, but from what I currently understand, the best controllers put a velocity control loop at the lowest level with a supervisory higher level control that is doing the path planning, limiting accels/decels, ...

Just today I asked a true roboticist that I work with (I'm looking at you Shamlian.net) for a "robot arm controls for dummies" sort of a book. He promised to give it some thought and get back to me next week.

Stay tuned.

Joe J.

[Ether]

Originally Posted by Necroterra

Is that link from a textbook or is it something you could link me too? I would love to see the explanation / derivation of that.

http://tinyurl.com/mfumj2w ... Chapter 17

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[Ether]

Originally Posted by Necroterra

I would love to see the explanation / derivation of that.

This sketch may be a bit clearer.