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Hallo Brian and emc list!
I have coded your trafo in matlab and i
coded another trafo in matlab that uses the quaternion representation directly.
They BOTH work well. Yours is quite tricky. I have never seen that way to do
it.
I coded a third trafo that doesn`t work
that good. I have them at home and will send them to you tomorrow. What was the
problem with your trafo? As far as i have tested it, it converges quite stably.
And in the cases it didn`t, there was a singularity. I did not test very much,
but is it possible that you made a forward trafo in situations where there
simply is no solution? If the algorithm detects that, what is supposed to
happen? I think the drives should not move and the worker should get a warning
message. Then he can go back in machine coordinates and go somewhere
else.
till
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