x4 Quadarm

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jofes
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25 Feb 2016 17:58 #70631 by jofes

x4 Quadarm was created by jofes

Hello all, I am new here and this is my first post. What I am working on is a pick and place robot arm.

I want to use the Linuxcnc program to run the arm.
:woohoo:

The arm will be controlled by four pwm servo drives.

I am looking for information on servo control using Linuxcnc.
I need some help to aim my sites in the general direction to find the information i am looking for.

Thank you, Joseph.

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andypugh
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25 Feb 2016 19:26 #70633 by andypugh

Replied by andypugh on topic x4 Quadarm

That appears to be a delta robot.

There does not seem to be a suitable kinematics included in LinuxCNC (I thought that there was) but a Google search for "deltakins" will find you some examples.

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andypugh
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26 Feb 2016 11:29 #70667 by andypugh

Replied by andypugh on topic x4 Quadarm

One observation: I don't see any home switches on your system. You need to be able to find a repeatable home position for each actuator to be able to properly calculate the kinematics.

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jofes
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26 Feb 2016 17:55 #70681 by jofes

Replied by jofes on topic x4 Quadarm

Yes I will need the end stop and home switches. A work in progress. Thanks.

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x4 Quadarm

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