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 :
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STEP 1:Add the Statistics 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 FB:
The Polynomial-Fit dialog-box is now open. STEP 4:See Polynomial Fit dialog-box Notes:
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