RotaryDeltaRobot

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13 Feb 2020 09:13 #157269 by slckzbn
RotaryDeltaRobot was created by slckzbn
I have a 3-axis delta robot
I use mesa 5i25 and 7i77 cards
I made the adjustments from pncconf
I use the kinematics of rotarydeltakins
I added these in the case section;
setp rotarydeltakins.platformradius 40.0
setp rotarydeltakins.thighlength 384.0
setp rotarydeltakins.shinlength 1091.0
setp rotarydeltakins.footradius 60.0

I changed the joints from LINEAR to ANGULAR
I organized the kins part like this

[KINS]
JOINTS = 3
KINEMATICS = rotarydeltakins

my servos I set the 20bit servos encoder scale to 1048576
I couldn't find the value of the output scale so I canceled it from the hal file

Since I used rotarydeltakins, I made the motors work interconnected. However, the engines are running more than one turn, should not turn more than +55 -55 degrees. How can I solve this problem? Do I have a missing setting that I missed?
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13 Feb 2020 14:20 #157289 by andypugh
Replied by andypugh on topic RotaryDeltaRobot
You have the max and min joint limits commented out in the INI. Uncomment those lines ans set them to your +/- 55 degree limits.

You shouldn't just comment-out the analog_scalemax, but it might be that the default is OK. The actual value will only really affect PID tuning. However it probably should match the min / max limits (ie be 10) to prevent the PID saturating.

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13 Feb 2020 15:11 - 13 Feb 2020 15:12 #157292 by slckzbn
Replied by slckzbn on topic RotaryDeltaRobot
I gave + -55 value to the max limit and min limit parameters in join, but it continues to exceed its limits. I gave the value of encoder scale -128 output scale 360.
How many encoder scale and output scale values should I give? according to what should I determine?
Last edit: 13 Feb 2020 15:12 by slckzbn.

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