Bob-666 wrote:Are you saying that each stepper motor needs to execute something more complex than the usual trapezoidal velocity profile or is that sufficient? If it is, then any off-the-shelf microstepping controller board, eg Phidgets 1067, would suffice.
Is your thesis done yet Soronemus? Would love to read more about it.Soronemus wrote:Patrick,
I'm glad you liked the video! I will definitely try to remember to post a link to my thesis once it is 100% done. I just got the linear moves to work along with circular moves with an adjustable parameter for (moves/cm). Those are the only two types of moves I will be doing since it is the majority of what is found in Gcodes. I will be attaching my motors to the robot to verify that it is all working as intended very soon. Before I do that though I need to make a zeroing protocol which should be easy.
Thanks for the reply!
It is not completely done yet, but I have made a ton of progress. I have the wiring done, the motors attached, and the controls are done. The motion is very smooth. I am in the process of testing the resolution/repeatability of the robot. Below is a small album of the robot setup I am using. It is hard to see but there are optical encoders directly coupled to each of the motors that I will use to collect data from the motors. I will use numerical differentiation on that data to obtain the angular velocity, acceleration, and jerk to verify that there are no infinite jerk spikes (which the 5th order polynomial motion is supposed to prevent).SilvaMouse wrote:
Is your thesis done yet Soronemus? Would love to read more about it.
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