calibration
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calibration [2019/07/19 16:11] – visentin | calibration [Unknown date] (current) – removed - external edit (Unknown date) 127.0.0.1 | ||
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- | ====== Initialization - Zero reference ====== | ||
- | The '' | ||
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- | ==== Mechanical Limits of the Axis Motors ==== | ||
- | The axis motors have mechanical upper and lower limits. | ||
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- | === Upper limit === | ||
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- | ^Upper limit^Upper limit detail | ||
- | |{{: | ||
- | |Upper limit calculation shown below| Upper limit calculation detail | | ||
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- | L = 17.5 \\ | ||
- | B = 15 \\ | ||
- | s = 4 \\ | ||
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- | The upper limit can be calculated as follows: | ||
- | \\ \\ | ||
- | //(1) tan(β) = sin(β)/ | ||
- | //(2) cos(β) = s/y// \\ | ||
- | \\ | ||
- | Substitute (2) into (1) to get: \\ | ||
- | \\ | ||
- | //(3) L*sin(β)-B*cos(β)=-s// | ||
- | \\ | ||
- | Using following trigonometric formulas in (3): | ||
- | \\ \\ | ||
- | //(4) t = tan(β/2) // \\ | ||
- | //(5) sin(β) = 2*tan(β/ | ||
- | //(6) sin(β) = (1-tan^2(β/ | ||
- | \\ | ||
- | Leads to: | ||
- | \\ \\ | ||
- | //(7) (s+B)*t^2 + 2*L*t + (s-B) = 0// \\ | ||
- | \\ | ||
- | Solutions are: | ||
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- | // t1 = 0.2736 -> β = 30.6°// \\ | ||
- | // t2 = -2.1157 (neg. solution)// \\ | ||
- | \\ | ||
- | Hence, the maximum angle the axis can turn is // 90° + β ≅ 120°//.\\ | ||
- | \\ | ||
- | == Lower limit == | ||
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- | ^Upper limit^Upper limit detail^Lower limit^ | ||
- | |{{: | ||
- | |Upper limit calculation shown below| Upper limit calculation detail |Lower limit of the Axis Motor | | ||
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- | Lower limit of the Axis Motor measured on the Delta robot, γ is about 5°. | ||
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- | ==== Mechanical Limits of the Tool Center Point Motor ==== | ||
- | The TCP rotation is also limited by two metall pins. The maximum turn angle is calculated as follows:\\ | ||
- | {{ : | ||
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- | //sin(γ/2) = r/R//\\ | ||
- | // | ||
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- | That is the value for one side. The other side is identical, so the maximum turn angle is\\ | ||
- | \\ | ||
- | //β = 2*PI - 2 * 0.06 = 6.16 (rad) ≅ 353°//. | ||