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Is there a plan to add more kinematics transformation to fit more different machine? #16
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At this point, all developers have euclidian machines, so this is what they are focusing on. Current focus is to get the planner a little more smart, and then there are a couple of other things on the list first before worrying about different geometries. The current implementation assumes that a line-segment in euklidian space can be decomposed into linear axis movements on all motors. Part of the fact that we can do very fast steps with almost no Host-CPU is because these linear calculations can be done very efficiently in the PRU. Any linear geometry that can be transformed with an affine transformation should be working out of the box. I suspect that the geometry does not work out linearly in e.g. Rostock machines, but I have never looked into that math. Anyway, if you would like to see that in BeagleG because you have access to such machine I guess is to get involved and send patches. |
Thanks for your reply,hzeller! I am seeking to add this feature to BeagleG. Actually beagleG is efficent! |
Is there a plan to add more kinematics transformation to fit more different machine?
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