5 DoF robotic arm speed control

Hi everybody,

I have a 5 DoF robotic arm controlled via LinuxCNC. I have a problem with speed, when the robot gets to cornerns it starts shaking and it stops moving for a while, but when it is far from corners it follows the path perfectly and smoothly .
I read in the documentation that It would be useful the command G64 Pxx, but I tried it and it wasn't good at all.

Can anyone have any other suggestions?

Please, write me soon.

Do you use a special kinematic or are you commanding the joints directly?

I am using trivial kinematics

I am using trivial kinematics, any suggestions?

Have a look at genserkins:

linuxcnc.org/docs/2.8/html/motion/dh-parameters.html

I'm working on a 6 axis Mitsubishi robot:
forum.linuxcnc.org/10-advanced-configura...th-simulation#158467

Also, when using non-trivial kinematics it's very handy to be able to switch between the non-trivial and the trivial kinematic:
www.panix.com/~dgarrett/stuff/switchkins.html

It would be interesting to use generkins, but I have read that it doesn't check the end effector postion in relation to the joint limits.

However, do you think that the speed problem is due to trivial kinematics?

I also add encoders on each joint and set microstepping to have smooth movements. Anyway, when it reaches the corners it starts to shake or pause for a while, and then goes on smoothly.

Optical incremental encoders and stepper motors

This is an extract. Some parameters are defined in the coorespondent file .ini such as [AXIS_0]STEPLEN

I use DRV8825 driver, and the interface is via Mesa cards.