ESP32 Delta Robot Sorting Golf Balls with Machine Vision

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Here are links to some of the equipment used on my delta:
Stepper Motors and Drivers - amzn.to/2RcFBqK
ESP32 - amzn.to/2TK9Sik
Object Tracking Pixy Camera - amzn.to/2r4GaaL
Suction Cup for Golf Balls - amzn.to/2Rl1ub2
M5 Hose Barb - amzn.to/2BDxGMF
Braided Cable Sleeve - amzn.to/2LedCnb
Stainless Steel Cable Ties - amzn.to/2LevZsb
Strain Relief Cable Glands - amzn.to/2LdnuO8
Silicone Fusing Tape - amzn.to/2J5RPO8
Locking Casters - amzn.to/2kJ75WB
Aluminum Extrusion - amzn.to/2Lh14M7
Cable Clips - amzn.to/2xColG8
M5 T Slot Nuts - amzn.to/2HdnNWP
M5 Screws - amzn.to/2J4OSBs
Carbon Fiber Tubes - amzn.to/2J5xVqz
Suction Cup Nozzles - amzn.to/2Qh2Vqg
Brass Standoffs - amzn.to/2ULGadz
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Опубликовано:

2 окт 2024

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Комментарии : 89

@TqSNv9R0iG5Ckxew 5 лет назад

It's always a treat to see your project updates! Thanks for taking the time to share!

@ProtoG42 5 лет назад

Thanks for watching!

@UnexpectedMaker 5 лет назад

Making great progress! Thanks for sharing :-)

@ProtoG42 5 лет назад

Thanks for watching!

@janismac314 5 лет назад

The motion control is pretty .. rough. Would like to see smooth control with limited acceleration and jerk. This could for example be done with Hermite or Bezier splines.

@ProtoG42 5 лет назад

Lowering the acceleration looks better but sounds worse. This is my first cnc type machine that I have programmed from scratch so if you have programming advice for 3d motion profiles without the use of cam, I'm all ears. I've built a cnc router from scratch but I used a Gcode software like Mach3 to control the motion profiles.

@janismac314 5 лет назад

@@ProtoG42 Do you use micro-stepping on the stepper motors? That can improve the noise problems AFAIK. I could help with the trajectory generation. How do you control the motors? I could provide 3D posistion/velocity/acceleration as a function of time. Or rather some code that generates those numbers.

@ProtoG42 5 лет назад

@@janismac314 Going from 1/8th then to 1/16th and finally to what the machine is using now; 1/32nd microstepping did help quite a bit. Beyond that, I didn't see any improvement. Right now, I am using direction and step signals and using a library called AccelStepper that I can set the acceleration. I have a custom motion path programmed for each ball position in 5 steps. Initial move, One ball height above position, plunge position, release position. The problem with that is that it accelerates and decelerates between each step which is unnecessary. If I could chain them together in more of a curved single motion with acceleration and deceleration, it would be much nicer but I'm not sure where to start. I may need to ditch the Accelstepper library and create a custom library because Accelstepper does not support curved paths. I could use something like GRBL that uses Gcode but I would like to avoid that because I do not want a computer attached to the machine. I have a more than full time job so I don't have as much time to spend on this as I would like. Overall I'm still pretty happy with everything and my next robot will be a SCARA which will be much easier to produce smooth motion.

@JaakkoF 5 лет назад

@@ProtoG42 I would download the code for Delta type 3D printer like Marlin and feed that normal cartesian coordinate inputs for positioning. The Marlin delta code then automatically translates everything from cartesian to delta coordinates, making programming a lot easier. And I believe the G code interpreter inside Marlin is based on grbl, so it can chain the movements to be in one continuous flow.

@ProtoG42 5 лет назад

@@JaakkoF As I said, I do not want to use GRBL. I've used it before but I would like to learn to do the motion control on my own. GRBL still would not give me an easy way to map the 3d paths in space, it would just accept the commands. I don't think it's possible to avoid at least some form of cad/cam though without it taking forever.

@vizionthing 5 лет назад

A reservoir for the vacuum would seem like a good idea, there's such a long pause during pick up, smoother acceleration would make it look like poetry in motion, at the moment it looks like an aggressive toddler :) great work looking forward to the updates

@ProtoG42 5 лет назад

Having a tank is a good idea. Less acceleration looks better but sounds worse. All three motors, three power supplies and three drivers were only $300. Just a set of decent drivers would cost more than that.

@vizionthing 5 лет назад

1/4in neoprene rubber under the motors?

@ProtoG42 5 лет назад

@@vizionthing I'm sure that would help but I really think the motors/drivers are poorly made. I wish I had spent more money originally but for a hobby project that I have no specific need for yet, it was hard to justify for me. If you look back at a video I posted 9 months ago about controlling large stepper motors with a phone you see that even the motor on its own sounds awful with "smooth" acceleration. Clearpath servos seem perfect for an application like this because of the built in software to control the acceleration profiles but each motor is more expensive than my entire machine.

@alancastelan7073 5 лет назад

Your project is very good congratulations, just think you should add an acceleration and deceleration algorithm, the movements are very dry

@XtianTechno 5 лет назад

Nice work!

@ProtoG42 5 лет назад

Thank you!

@mertcapkin7263 5 лет назад

If you are looking for good suction cups, take a look at PIAB. That's what my company is using.

@ProtoG42 5 лет назад

Those look pretty nice, thanks!

@JeremyCook 5 лет назад

Very cool. That project is really coming along!

@ProtoG42 5 лет назад

Thanks Jeremy. Have a happy New Year!

@JeremyCook 5 лет назад

@@ProtoG42 Thanks, you too!

@bjarkethomsen 5 лет назад

It would look nice with a ball buffer position that is not in the matrix, an be able to have a complete ball matrix. Anyhow very cool project, and i like you way of doing it all from scratch to learn most from your project. It is very inspiring!

@SeishukuS12 5 лет назад

Is there enough memory/processing to do the sort internally on the micro and generate a move list? That way it's not doing it on the fly...

@ProtoG42 5 лет назад

Absolutely, that is actually what I've done. I've programmed the motion path for each ball location separately which is why I have only finished the first row. The ESP32 has much more memory than most other microcontrollers. I'm not even using close to half of the available memory right now.

@idankk 5 лет назад

You know your stuff and making us all jealous with the machines you have access to. :) Great work!

@ProtoG42 5 лет назад

Thanks for watching!

@cheetor5923 5 лет назад

Fascinating work... I've recently fallen from being a hobbyist at home to designing and making factory line automation equipment for electronics manufacturing. Talk about a steep learning curve! Only just found your channel... keep up the awesome and interesting work.. I will be watching :D

@aarondcmedia9585 5 лет назад

I'm preempting half the video, but did your lighting inside remove the shadow-based confusion you had in the last video?

@ProtoG42 5 лет назад

Yeah, the lighting made a much better improvement than I was expecting. It even works with all the lights in the room off!

@TheAngeljuarez Год назад

Hola. Dónde está el sensor de color o la cámara. Gracias.

@primevideos5325 4 года назад

Hi you are doing great work may I know how you embedded computer vision in esp 32 it will be very helpful and one of the kind in RU-vid if can make video of end to end process of bringing a computer vision model onto esp 32

@ProtoG42 5 лет назад

@birduman 3 года назад

You need an acceleration library.. Steppers shakes the machine from top to bottom. But in general its a good job. well done.

@ChrisLindbergh 5 лет назад

If you put two cups on the arm and a 180 degree rotation (like a wrist) then you can aim for between the two balls that need to be sorted, which would save time and avoid the empty column.

@ProtoG42 5 лет назад

That would definitely speed things up but at the same time it would slow down the top speed due to the weight of the end effector increasing.

@muhammetkilictas 5 лет назад

Good work. How did you connect the wire of MA710 encoder? ı also watched your absolute and quadrature encoder video. But i couldn't see the wires.

@builditwithadam 5 лет назад

Echoing some other comments here, it seems like a solid vacuum reservoir would help trim time off your picking motions. Either way thanks for sharing your hobbies with us! Keep up the good work

@UntrackedEndorphins 5 лет назад

I love and hate how it sounds and moves

@ProtoG42 5 лет назад

Thanks! It sounds much cleaner at lower speed but I like it moving fast. If I wanted it to sound super clean at high speeds I would need to replace the planetary gearboxes with very expensive harmonic gearboxes as well as higher quality motors/drivers. One harmonic gearbox like models used in industrial delta robots, would cost more than my entire machine.

@UntrackedEndorphins 5 лет назад

@@ProtoG42 that's understandable, it sounds like it's gonna break at any time still lol

@ProtoG42 5 лет назад

@@UntrackedEndorphins That's a normal sound for a spur gear planetary gearbox and cheap motors/driver. It definitely is not at risk of breaking. It would easily break a hand if placed in the top window and I can't stop the movements with my hands from the bottom. Look up trinamic stepper motor drivers and see how much a quality driver can change the sound of the motors.

@tuskiomisham 5 лет назад

I like this. Can you make it sort the balls into a different configuration?

@ProtoG42 5 лет назад

Yeah, I could even use smaller balls like pixels and form patterns, words, numbers, pictures etc. I may end up doing that down the road.

@tuskiomisham 5 лет назад

@@ProtoG42 That would make a great showcase! even a simple rot90 algorithm I'd probably put on in the background.

@tatequietonene 8 месяцев назад

Hi. What is the ESP32 code to move the three motors?. What software did you use to create the code?. I think I see that the robot traces straight trajectories. Thank you.

@sanyashrivastav848 4 года назад

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@donvukovic7440 5 лет назад

Did your ESP32 Delta Robot get dance lessons from NFL players ? :=D

@SpenserRoger 5 лет назад

What are you going to use it for?

@ProtoG42 5 лет назад

Nothing, it's just a tool for me to learn new skills as I will continue to advance the features and algorithms in between projects. It could easily be adapted to different functions in the future.

@Stabby666 5 лет назад

Those motors seem a little excessive for picking up golf balls :)

@yoshmarklund 5 лет назад

Was that a cocktail sort?

@ProtoG42 5 лет назад

It was just a regular bubble sort but a cocktail sort would have made the exact same moves in that scramble.

@TechnokidYT 5 лет назад

What do you use for the suction?

@ProtoG42 5 лет назад

Vacuum Pump: amzn.to/2Rp5NBY Solenoid Valve: amzn.to/2Vo47aX Suction Cup Nozzles - amzn.to/2Qh2Vqg Suction Cup for Golf Balls - amzn.to/2Rl1ub2

@TechnokidYT 5 лет назад

@@ProtoG42 Thanks!

@benmodel5745 5 лет назад

Remove mass from the arms! Those look way too heavy, so much more rotational mass to accelerate. Should cut down on the shaking in the frame, probably some noise too.

@ProtoG42 5 лет назад

The frame isn't shaking, the cart that it is sitting on is shaking. The arms are too light if anything for these motors. They sound worse without the arms on at all.

@beachboardfan9544 5 лет назад

ITS SOOO ANGRY! love it 👍

@ProtoG42 5 лет назад

Thanks!

@hothifaalhealy7642 4 года назад

good job Are these engines stepers or servo

@yuraa.4980 Год назад

Алгоритм работы робота, конечно, оставляет желать лучшего.

@Dust599 5 лет назад

The steppers are way over powered for the load, even at speed... this is the cause of your noise.

@Dust599 5 лет назад

You could probably sort colored bricks with this thing..

@ProtoG42 5 лет назад

Yes and no. They are over powered for this particular application but I manage a manufacturing facility and I wanted to have the option if decide to use it for lifting much heavier objects than the golf balls. The noise can be reduced using inertial/harmonic dampeners and better drivers. Even without power connected to the machine, the motors are loud when moving by hand quickly. The torque of a stepper motor is drastically reduced when microstepping and when driven at higher speeds. At 1/8th microsteps, you're already at around 19% of the original rated torque. At 1/16th microsteps, the motor now only has around 10% of the original torque rating when holding at the micro step positions. The power of these motors gives me much higher torque at high speeds and higher resolution compared to smaller stepper motors.

@hypnolobster 5 лет назад

This thing is downright alarming. And cool!

@ProtoG42 5 лет назад

Thanks Kirby!

@hanzmarin4655 3 года назад

Where's the camera?

@junuhunuproductions 5 лет назад

Quite scary... But great for teaching real life sorting algorithms :) Btw, i really liked your rubber band method to reduce vibration noise of the rod. I might try that in my delta printer too... Thanks!

@PiefacePete46 5 лет назад

Like the rubber band dampers... a tennis pro would call them "String-a-lings". :o) Stunning machine, don't be too critical of it. I would love to see it evolve into a worthwhile addition to your business. Thanks.

@ivan2vp61 5 лет назад

Wonderful project man Congratulations. May I ask you what kind of software you use to design your covers and letters?

@tuskiomisham 5 лет назад

what is the pickup mechanism? it seems.... pneumatic? what's the pickup part called?

@Ringer1982 5 лет назад

Those motors are too small for the task, motors from Tesla should be sufficient...

@mr.stratholm4999 5 лет назад

Your mechanical engineering skillz are top notch but your algo development leaves a bit to be desired. Think of the rows of different colored balls as an array. If you have machine vision then you can test the sate of each element (color of the ball and what slot it is in) to get it to only modify the ones that don't align with the standard coloring instead of touching every ball in order to organize the array. That should easily eliminate 50% of the movements you are making. Remember that you have a full row of empty slots so you could also multiplex the work that needs to be done by putting the instructions in a stack (known as a queue for others). I don't know your hardware limitations but considering that you need to keep track of color and position to properly formulate the desired matrix then this can be done by the weakest of Arduino. You can gain much efficiency by evaluating the entire matrix and formulate a plan to fix it on the fly in memory much easier and cheaper than doing it in the physical world where it costs you way more in time and wattage.Your hardware is good but your algo/approach to solving this matrix problem needs some work.

@viniciusnoyoutube 5 лет назад

Freaking cool!

@bulldozer7656 5 лет назад

Great work! Maybe mount the servos on a silicone pad to isolate the motors from the frame, it might cut down on the servo buzz.. Plus a vacuum reservoir tank might help on the compressor noise.. Just a thought.. Way cool project.

@ProtoG42 5 лет назад

Thanks! The vacuum tank would definitely speed up suction time. I'm sure the pad would help but I really think the motors/drivers are poorly made. I wish I had spent more money originally but for a hobby project that I have no specific need for yet, it was hard to justify for me. If you look back at a video I posted 9 months ago about controlling large stepper motors with a phone you see that even the motor on its own sounds awful with "smooth" acceleration. Clearpath servos seem perfect for an application like this because of the built in software to control the acceleration profiles but each motor is more expensive than my entire machine.

@bulldozer7656 5 лет назад

@@ProtoG42 I get it, it's hard to justify the expense when your just trying something out. I've seen some servo motors with the "smart" software and they've always worked for me. Yes, more fiddlin but better results w no excessive noise. Either way, great project. We all do what we can w what we have. Thanks!!