scurve trajectory planner

Wild guess, as I haven't looked at all, but it may be related to the compensation logic (used for backlash etc) - as I remember it's hard coded to allow 200% accels to fix position errors and is used for example for backlash and mapping and could cause such behaviors if it is involved in some way.

Get same results when calculating vel for joint.0 inside the planner. Havent figured it out yet. I thought maybe split cycle. But have to dive deeper into it. Will do a motion test tomorrow.

In this example no scurve is active. The traject position is incremented 0.01mm each cycle.

The spikes are caused by bspline interpolation.
Even when the bspline has a high resolution like 1000 points. It wont change.
So maybe change it to a linestrip. and then interpolate the linestrip. See what happens.

 

Hi,

The spikes are solved. Problem was found. Not havely tested, just one video.
1. Using a linestrip derived from a bspline seems to work ok.
2. Slightly changed the scurve algo.


Code is updated.

@Hmnijp,

I can provide all the programs I used for the comparison, maybe it will help to fix the errors. 
Yes indeed.
Please provide the programs.

To be reviewed, fixed:
 

I really like this example:
 

Hi Grotius. I can also provide a non functional code. Works as it should with the standard tp with 2.9.3.

With scurve tp it jumps all over the place. 9axis sim machine or a self configured machine is no difference. Also your given 3axis mm machine with a added 4 axis is the same.