Parallel SCARA Kinematics - Closed Loop
- olzy
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22 Oct 2024 20:24 - 22 Oct 2024 20:28 #312893
by olzy
Parallel SCARA Kinematics - Closed Loop was created by olzy
https://photos.app.goo.gl/AMjtLChLGqvqSN6NAHi there,
I have made a 5 bar robot, often referred to as a Parallel SCARA machine. For this I have used harmonic gearboxes. The machine is used for CNC plasma cutting.
Currently I am using RepRap firmware to control the machine. I have a tiny amount of backlash in one of my harmonic gearboxes, I have tried replacing the gearbox but the units are fairly cheap and the issue is still there. I would like to add either closed loop control or backlash compensation to the joints, which is not possible to do within RepRap firmware.
I have been looking through the scarakins within LinuxCNC and was hoping someone may be able to let me know if the following is possible?
- Run a parallel SCARA machine in LinuxCNC
- Apply Closed Loop control to actuated joints
- Apply backlash compensation to actuated joints
I have a CNC mill using LinuxCNC so have some understanding of linuxCNC and really enjoy using it. Please let me know any thoughts.
Kind regards
Olzy
photos.app.goo.gl/AMjtLChLGqvqSN6NA
I have made a 5 bar robot, often referred to as a Parallel SCARA machine. For this I have used harmonic gearboxes. The machine is used for CNC plasma cutting.
Currently I am using RepRap firmware to control the machine. I have a tiny amount of backlash in one of my harmonic gearboxes, I have tried replacing the gearbox but the units are fairly cheap and the issue is still there. I would like to add either closed loop control or backlash compensation to the joints, which is not possible to do within RepRap firmware.
I have been looking through the scarakins within LinuxCNC and was hoping someone may be able to let me know if the following is possible?
- Run a parallel SCARA machine in LinuxCNC
- Apply Closed Loop control to actuated joints
- Apply backlash compensation to actuated joints
I have a CNC mill using LinuxCNC so have some understanding of linuxCNC and really enjoy using it. Please let me know any thoughts.
Kind regards
Olzy
photos.app.goo.gl/AMjtLChLGqvqSN6NA
Last edit: 22 Oct 2024 20:28 by olzy.
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- Aciera
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23 Oct 2024 06:39 #312925
by Aciera
Replied by Aciera on topic Parallel SCARA Kinematics - Closed Loop
See here, has not published the kinematic though:
Closed loop for the motors is not a problem.
Backlash compensation is possible in linuxcnc but don't expect it to make the problem go away completely as the PID loop will have it's problems coping.
Closed loop for the motors is not a problem.
Backlash compensation is possible in linuxcnc but don't expect it to make the problem go away completely as the PID loop will have it's problems coping.
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