Difference between revisions of "Mathematics"
(Created page with "== Requirements for the Controller == * The head has to be moved along a given curve. Currently the curve consists of segments of lines, clothoids and arcs. Later on they may...") 
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Revision as of 07:28, 3 September 2018
Requirements for the Controller
 The head has to be moved along a given curve. Currently the curve consists of segments of lines, clothoids and arcs. Later on they may also be described by BezierSplines/BSplines/NURBS.
 The movement speed is independent from the parameterization of the curve. Most of the time the head is required to move at constant v, but it also accelerates/decelerates.
 Head movement has to be continuous in position, speed and acceleration and bounded in jerk. The source curves are at least C2.
 The path the head is moved along should not deviate from the given curve more than, 0.01mm, total range of motion is 300mm. So a accuracy of 10^5 is striven for.
 The velocity of the head should not deviate by more than 10^4, the acceleration has to be continuous and bounded, the jerk has only to be bounded.
 The motor controller is implemented in an FPGA and communicates with the host via UART.
 Required step frequency up to 6 MHz, FPGA running at 20MHz