[Emc-commit] documents/lyx Glossary.lyx,1.6,1.7

[<ray...@us...>]

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv27575

Modified Files:
	Glossary.lyx 
Log Message:
added kinematics from Sagar

Index: Glossary.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/Glossary.lyx,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** Glossary.lyx	22 May 2003 21:53:45 -0000	1.6
--- Glossary.lyx	21 Jun 2003 16:07:56 -0000	1.7
***************
*** 40,46 ****
  rather than the standard style.
  It also uses each term as a Label so that one term can
! easily refer to another using a cross reference. 
! Cross references need a space ahead and after 
! so that they look good in the published documents. 
  \end_inset 
  
--- 40,46 ----
  rather than the standard style.
  It also uses each term as a Label so that one term can
! easily refer to another using a cross reference.
! Cross references need a space ahead and after
! so that they look good in the published documents.
  \end_inset 
  
***************
*** 88,92 ****
  \end_inset 
  
!  The amount of play or slop in a lead-screw 
  \begin_inset LatexCommand \ref{Leadscrew}
  
--- 88,93 ----
  \end_inset 
  
!  The amount of "play" or lost motion that occurs when direction is reversed
!  in a lead screw 
  \begin_inset LatexCommand \ref{Leadscrew}
  
***************
*** 94,97 ****
--- 95,118 ----
  
  .
+  or other mechanical motion driving system.
+  It can result from nuts that are loose on leadscrews, slippage in belts,
+  cable slack, "wind-up" in rotary couplings, and other places where the
+  mechanical system is not "tight".
+  Backlash will result in inaccurate motion, or in the case of motion caused
+  by external forces (think cutting tool pulling on the work piece) the result
+  can be broken cutting tools.
+  This can happen because of the sudden increase in chip load on the cutter
+  as the work piece is pulled across the backlash distance by the cutting
+  tool.
+  
+ \layout Description
+ 
+ Backlash_compensation - Any technique that attempts to reduce the effect
+  of backlash without actually removing it from the mechanical system.
+  This is typically done in software in the controller.
+  This can correct the final resting place of the part in motion but fails
+  to solve problems related to direction changes while in motion (think circular
+  interpolation) and motion that is caused when external forces (think cutting
+  tool pulling on the work piece) are the source of the motion.
  \layout Description
  
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*** 316,319 ****
--- 337,349 ----
  \layout Description
  
+ Joint_Coordinates:
+ \begin_inset LatexCommand \label{Joint_Coordinates}
+ 
+ \end_inset 
+ 
+  These specify the angles between the individual joints of the machine.\SpecialChar ~
+ Kinematics
+ \layout Description
+ 
  Jog Manually moving an axis of a machine.
   Jogging either moves the axis a fixed amount for each key-press, or moves
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*** 334,338 ****
--- 364,385 ----
  \end_inset 
  
+  The position relationship between world coordinates 
+ \begin_inset LatexCommand \ref{World_Coordinates}
+ 
+ \end_inset 
+ 
+  and joint coordinates 
+ \begin_inset LatexCommand \ref{Joint_Coordinates}
+ 
+ \end_inset 
  
+  of a machine.
+  There are two types of kinematics.
+  Forward kinematics is used to calculate world coordinates from joint coordinate
+ s.
+  Inverse kinematics is used for exactly opposite purpose.Note that kinematics
+  does not take into account, the forces, moments etc.
+  on the machine.
+  It is for positioning only.
  \layout Description
  
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*** 569,571 ****
--- 616,628 ----
  
   were written.
+ \layout Description
+ 
+ World_Coordinates:
+ \begin_inset LatexCommand \label{World_Coordinates}
+ 
+ \end_inset 
+ 
+  This is the absolute frame of reference.
+  It gives coordinates in terms of a fixed reference frame that is attached
+  to some point (generally the base) of the machine tool.
  \the_end