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With Inverse-Kinematics, your motion-design (that you design with MotionDesigner) is defined for a Tool/End-Effector. Then, typically, you add more parts, which you join to the Tool-Part, to create a more complex kinematic-chain. Finally, you use a servo-motor to drive a part that in the kinematic-chain, that has a different motion to the Tool-Part. To plot the motion for the servo-motor you can use a Measurement FB, add a Graph FB, and then export a list of positional data-points for the servo-controller. While this is often satisfactory, it is often preferable to give the servo-controller a series of polynomials rather than a list of data-points. The output from the Polynomial Fit FB is the best-fit motion to the data at its input-connector, but defined as a series of 5th order Polynomials. You can export the Polynomials directly to MotionDesigner. In MotionDesigner, you can further manipulate the Polynomials, as required. |
What to do :
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STEP 1:Add a Polynomial-Fit FB to the graphic-area
The Polynomial-Fit FB is now in the graphic-area |
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STEP 2:Connect a wire to its input-connector.
A wire is now connected to the input-connector of the Polynomial-Fit FB. |
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STEP 3.Open the Polynomial-Fit dialog:
The Polynomial-Fit dialog is now open. STEP 4:See Polynomial Fit dialog Notes:
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