Coordinate Transformation

Oct 2015

[White Paper] Galil Controller Provides Six Degrees of Freedom on ALIO Stage

by Cory

6 Axis ALIO stage_350x303.png

Machines today are designed with many novel mechanical configurations which allow for greater simplicity of design, lower cost, and higher precision. Unfortunately, simplicity in the mechanics results in a system where moving in a straight line involves profiling multiple motors in complex trigonometric trajectories. Using a motion controller to perform these coordinate transformations allows an operator to command the machine in a familiar coordinate system. Each of the motors perform the required profile in order to smoothly move the load along the desired path.

Jul 2009

Coordinate Transformation Options for Motion Controllers

by Galil_Todds

Summary

Galil now offers users the option of ordering motion controllers with on board Coordinate Transformation. This option allows a user with a complex kinematic transform to have that calculation performed directly on the Galil controller. Working with a Galil application engineer, the user will review the forward and reverse kinematic transformation for their particular machine. These equations are then written into the firmware of the Galil controller. The end result of this process is that the transformation now occurs upon the calculation of each servo update (up to 32kHz), and the user can command the system in machine coordinates rather than simple encoder counts. In addition, this saves the PC from the burden of performing these sometimes complex calculations.