Re: dynamic wiring

On Fri, 13 Dec 2002 [email protected] wrote:

> The structure of Motion control core is predeterminated, components
> are linked togheter by a specific mediator.
> Why introducing a dynamic wiring system?
> Can you explain me with an example?
>
The _wiring_ is not dynamic, but the _contents_ of what you send through
the wires.

In fact, also the wiring has some dynamics. For example, if you change
from a 3DOF robot to a 6DOF robot, you will need more "wires" from
Cartesian space to the joints. But conceptually, its the same "wire".
Another example: a classical CNC controller will not use the Observer
component, so you don't compile in all the wiring to and from this
component.
Still another example: using the control core for waveform generation
(such as in the generation of excitation signals for an experimental
setup) doesn't need the Observer component, and the Control component
can also be short circuited.

In summary, the dynamic wiring is part of the _configuration_; the
dynamcis of what you send through the wires is part of your application.


Herman

-- 
  K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480