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关于AsuMotion九轴联动问题

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出0入0汤圆

发表于 2016-5-8 22:14:52 | 显示全部楼层 |阅读模式
麻烦看看的数据算不算联动,每行共10个数据,第一列为时间,后面九列为九个轴的坐标,第一个轴的最终坐标为1,第二个为2,依次类推,起始坐标都为0,然后规划这个运动,得到每个时刻的坐标

0.00000, 0.00134, 0.00267, 0.00401, 0.00535, 0.00668, 0.00802, 0.00935, 0.01069, 0.01203
0.00100, 0.00535, 0.01069, 0.01604, 0.02138, 0.02673, 0.03207, 0.03742, 0.04276, 0.04811
0.00200, 0.01203, 0.02405, 0.03608, 0.04811, 0.06013, 0.07216, 0.08419, 0.09621, 0.10824
0.00300, 0.02138, 0.04276, 0.06414, 0.08552, 0.10690, 0.12829, 0.14967, 0.17105, 0.19243
0.00400, 0.03341, 0.06682, 0.10022, 0.13363, 0.16704, 0.20045, 0.23385, 0.26726, 0.30067
0.00500, 0.04811, 0.09621, 0.14432, 0.19243, 0.24054, 0.28864, 0.33675, 0.38486, 0.43296
0.00600, 0.06548, 0.13096, 0.19644, 0.26192, 0.32740, 0.39287, 0.45835, 0.52383, 0.58931
0.00700, 0.08552, 0.17105, 0.25657, 0.34209, 0.42762, 0.51314, 0.59867, 0.68419, 0.76971
0.00800, 0.10824, 0.21648, 0.32472, 0.43296, 0.54120, 0.64944, 0.75769, 0.86593, 0.97417
0.00900, 0.13363, 0.26726, 0.40089, 0.53452, 0.66815, 0.80178, 0.93541, 1.06904, 1.20268
0.01000, 0.16169, 0.32339, 0.48508, 0.64677, 0.80847, 0.97016, 1.13185, 1.29354, 1.45524
0.01100, 0.19243, 0.38486, 0.57728, 0.76971, 0.96214, 1.15457, 1.34700, 1.53942, 1.73185
0.01200, 0.22584, 0.45167, 0.67751, 0.90334, 1.12918, 1.35501, 1.58085, 1.80669, 2.03252
0.01300, 0.26192, 0.52383, 0.78575, 1.04766, 1.30958, 1.57150, 1.83341, 2.09533, 2.35724
0.01400, 0.30067, 0.60134, 0.90201, 1.20268, 1.50334, 1.80401, 2.10468, 2.40535, 2.70602
0.01500, 0.34209, 0.68419, 1.02628, 1.36838, 1.71047, 2.05257, 2.39466, 2.73676, 3.07885
0.01600, 0.38619, 0.77238, 1.15858, 1.54477, 1.93096, 2.31715, 2.70335, 3.08954, 3.47573
0.01700, 0.43296, 0.86593, 1.29889, 1.73185, 2.16482, 2.59778, 3.03074, 3.46371, 3.89667
0.01800, 0.48241, 0.96481, 1.44722, 1.92963, 2.41203, 2.89444, 3.37685, 3.85925, 4.34166
0.01900, 0.53278, 1.06557, 1.59835, 2.13113, 2.66392, 3.19670, 3.72948, 4.26227, 4.79505
0.02000, 0.58142, 1.16284, 1.74426, 2.32568, 2.90710, 3.48852, 4.06995, 4.65137, 5.23279
0.02100, 0.62739, 1.25477, 1.88216, 2.50954, 3.13693, 3.76431, 4.39170, 5.01908, 5.64647
0.02200, 0.67068, 1.34136, 2.01203, 2.68271, 3.35339, 4.02407, 4.69474, 5.36542, 6.03610
0.02300, 0.71130, 1.42259, 2.13389, 2.84519, 3.55649, 4.26778, 4.97908, 5.69038, 6.40168
0.02400, 0.74924, 1.49849, 2.24773, 2.99698, 3.74622, 4.49547, 5.24471, 5.99396, 6.74320
0.02500, 0.78452, 1.56904, 2.35356, 3.13808, 3.92259, 4.70711, 5.49163, 6.27615, 7.06067
0.02600, 0.81712, 1.63424, 2.45136, 3.26848, 4.08560, 4.90272, 5.71984, 6.53697, 7.35409
0.02700, 0.84705, 1.69410, 2.54115, 3.38820, 4.23525, 5.08230, 5.92935, 6.77640, 7.62345
0.02800, 0.87431, 1.74861, 2.62292, 3.49723, 4.37153, 5.24584, 6.12015, 6.99445, 7.86876
0.02900, 0.89889, 1.79778, 2.69667, 3.59556, 4.49445, 5.39334, 6.29223, 7.19112, 8.09001
0.03000, 0.92080, 1.84160, 2.76241, 3.68321, 4.60401, 5.52481, 6.44561, 7.36641, 8.28722
0.03100, 0.94004, 1.88008, 2.82012, 3.76016, 4.70020, 5.64024, 6.58028, 7.52032, 8.46036
0.03200, 0.95661, 1.91321, 2.86982, 3.82643, 4.78303, 5.73964, 6.69625, 7.65285, 8.60946
0.03300, 0.97050, 1.94100, 2.91150, 3.88200, 4.85250, 5.82300, 6.79350, 7.76400, 8.73450
0.03400, 0.98172, 1.96344, 2.94516, 3.92688, 4.90861, 5.89033, 6.87205, 7.85377, 8.83549
0.03500, 0.99027, 1.98054, 2.97081, 3.96108, 4.95135, 5.94162, 6.93189, 7.92215, 8.91242
0.03600, 0.99614, 1.99229, 2.98843, 3.98458, 4.98072, 5.97687, 6.97301, 7.96916, 8.96530
0.03700, 0.99935, 1.99870, 2.99804, 3.99739, 4.99674, 5.99609, 6.99544, 7.99478, 8.99413
0.03800, 1.00000, 2.00000, 3.00000, 4.00000, 5.00000, 6.00000, 7.00000, 8.00000, 9.00000
0.03900, 1.00000, 2.00000, 3.00000, 4.00000, 5.00000, 6.00000, 7.00000, 8.00000, 9.00000

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一只鸟敢站在脆弱的枝条上歇脚,它依仗的不是枝条不会断,而是自己有翅膀,会飞。

出0入0汤圆

发表于 2016-5-24 00:45:45 | 显示全部楼层
如果能结合机械的情况,对空间多维(可以包含时间维度)的路径进行9轴的运动解耦,规划出9条运动轨迹就肯定就没人说这个不是联动了,这个还是很有难度的。
从你这个看的话如果说是9各轴同时动更为准确一些。

出0入0汤圆

 楼主| 发表于 2016-5-29 22:49:31 | 显示全部楼层
archer233 发表于 2016-5-24 00:45
如果能结合机械的情况,对空间多维(可以包含时间维度)的路径进行9轴的运动解耦,规划出9条运动轨迹就肯定就 ...

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出0入0汤圆

发表于 2016-5-30 21:10:32 | 显示全部楼层
带插补功能?

出0入0汤圆

 楼主| 发表于 2016-6-11 22:44:38 | 显示全部楼层

带插补功能!

出0入8汤圆

发表于 2016-10-6 19:42:13 | 显示全部楼层
貌似听起来,买这个做雕刻机控制卡更靠谱啊
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