Add Polynomial-Fit FB

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Add Polynomial-Fit FB

Why use a Polynomial-Fit FB?

It is often the case that your 'motion-design' is defined for the Tool/End-Effector. Then, you add more Parts and join them to the Tool-Part to create a more complex kinematic-chain. A different Part to the Tool-Part is driven by a servo-motor. This is normal inverse-kinematics.

If you want to move the Drive-Part with a servo-motor, you can use a Measurement FB, and add a Graph FB, and export the positional 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 series of a 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.


Add Polynomial-Fit FB

Add :

 

STEP 1:Add the Statistics FB to the graphic-area

Add Polynomial-Fit FB

1.Click Add menu > Mechanism menu  > Add Polynomial-Fit FB

- or -

1.Click Modeling FB toolbar > Add Polynomial-Fit FB

2.Click the graphic-area

The Polynomial-Fit FB is now in the graphic-area

MD-GA-StatsFB

STEP 2:Connect a wire to its input-connector.

1.Drag a wire from a different FB to the input-connector of the Polynomial-Fit FB

A wire is now connected to the input-connector of the Polynomial-Fit FB.

STEP 3.Open the Polynomial-Fit FB:

1.Double-click a Polynomial-Fit FB in the graphic-area

- or -

1.See How to Open a Dialog-Box

The Polynomial-Fit dialog-box is now open.

STEP 4:See Polynomial Fit dialog-box


Notes:

Wires that connect Function-Blocks have 3 Data-Channels (in most cases).

The three(3) Data-Channels are usually:

Position, Velocity, and Acceleration.

Total Force, Force X, and Force Y.

See Data-Channels for more information.