An Arduino Delta Robot I made some weeks ago. It's powered by 3 DC motors with rotary encoders (14 pulses per rotation) and gears (1/264 downscale). The DC motors are PID controlled (input signal: encoder pulse count, output signal: PWM).
Blog post about this project:
electrondust.c...
The inverse Kinematics code I applied can be accessed here:
github.com/T-K...
Above mentioned library was built upon this superb publication:
R.L. Williams II, "The Delta Parallel Robot: Kinematics Solutions", Internet Publication, January 2016.
Note that the bad accuracy while moving isn't caused by a problem with the IK mathematics. It's because my PID controller of the Delta Robot isn't very good.
This Arduino Delta Robot can't do much at this point in time. In this Video, I made the thing draw a geometric thing.
Music:
"My Always Mood" by Broke For Free
www.brokeforfre...
5 окт 2024
