I’m looking to move the end effector through a straight line (shown in green) with a certain acceleration & speed profile using a rotation and an extrusion joint as shown in the image.
I’m planning on tackling it in two phases
a,) The first step is to interpolate a certain number waypoints along the straight line in terms of theta and distance of the extrusion joint, highlighted in yellow in the image.
b.) I will know the approximate end effector distance between the waypoints, so from there I think its a matter of controlling the stepper motors over time to create the desired constant acceleration at the start (assuming its within the limits of the individual steppers) constant speed for the “middle” of the line and de-acceleration at the end.
I don’t think a library like AccelStepper works here; as it will do the acceleration on each waypoint sub-segment; not across the entire “straight” line. A somewhat similar discussion https://groups.google.com/g/accelstepper/c/R1Dz3xVNfGM recommends looking at Grbl, as does http://www.buildlog.net/blog/2017/08/the-polar-coaster-a-drink-coaster-drawing-machine/
1.) Am I tackling this problem in a reasonable way; or could I re-frame my approach?
2.) Is Grbl a reasonable library to look at using to execute the required steps over time to achieve the desired end effector movement profile?
3.) What type of functionality will I have to implement if I use Arduino - Stepper directly instead of Grbl?