[ros-users] [Discourse.ros.org] [ROS-Industrial] Path planning with external axis

[Bas de Bruijn]

This would be something interesting to figure out...

@VictorLamoine 
If you plan a path as if you were planning to weld on a 2D plane then the 2D plane (and dimensions) would be the flattened cylindrical surface you'll be welding on.
Then interpolate the rotation of the positioner with the "planned" y movement (green?) (involving PI and the radius). So put a gear ratio between the y-position and the positioner, and do not move the welding torch in the y direction. You will then get metal added concentrically with the cylinder.

Doing something similar with @gavanderhoorn example of the infinite spool winding:
depending on the winding angle, I'd see if you can interpolate the x position (along the rotarion axis) with the (winded) wire position/length. So that will be the driving (virtual) axis. Then the spool will have to generate a constant torque otherwise the wire will be too "loose" around the spool, or the wire will snap. so for 1 lenth of wire the x-position will be the width of the spool, and the next length the x-position to be reached will be zero. and repeat that.
Or maybe even simpeler, travel back and forth between the spool, forget about the wire position altogether and link the wire speed to the cartesian speed of the end effector.





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