Modeling FB | Add Polynomial-Fit FB

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Modeling FB | 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 -Drive-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.


See also: Polynomial Fit dialog-box


Add Polynomial FB

Add Polynomial-Fit FB

Modeling FB toolbar > Polynomial-Fit FB

Menu :

Add menu > Add Polynomial-Fit  FB

Dialog-Box :

Polynomial Fit dialog-box

Add :

 

 

 

STEP 1.Add the Polynomial-Fit FB to the graphic-area

1.Click Modeling FB toolbar > Add Polynomial Fit FB

2.Click again in the graphic-area to 'place' the Polynomial-Fit FB.

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

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


STEP 2.Connect a wire to its input-connector

Each wire you connect to the Polynomial-Fit FB usually has three data-channels. See Data-Channels.

For example:

1.Connect a Measurement FB to measure the linear or angular dimension you want to control with a Servo-motor

2.Connect a wire from the Measurement FB to the Polynomial Fit FB

STEP 3.Open the Polynomial-Fit dialog-box:

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

- or -

1.See How to Open a Dialog-Box

STEP 4.See Polynomial Fit dialog-box