The attached 5.2-page paper expands upon and completely replaces my
posting "Trajectory Planning by Position" of 22 August 2021, 3.2
pages. Many things have been simplified and better explained.
The key observation is that if one used trajectory plans based of
carriage motion as a function of spindle-shaft rotation (as measured
with a spindle encoder), the problem of threading simplified
mathematically, and the exact details of spindle velocity no longer
mattered.
The companion white paper, "Position Trajectory-Plan Implementation
(20210830)", is published in a separate email.
Comments welcome from all. Please cite line number ranges.
Joe Gwinn
