control-ntb
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control-ntb [2019/08/09 16:13] – created visentin | control-ntb [Unknown date] (current) – removed - external edit (Unknown date) 127.0.0.1 | ||
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- | ====== Control System ====== | ||
- | The figure below shows the complete control system for our delta roboter. The building blocks together with their connecting signals are denoted as given in the code. | ||
- | {{: | ||
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- | ===== Inputs and Outputs ===== | ||
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- | Lets start with the blue boxes at the bottom center of the diagram. This boxes represent the motor package, included the motor, the encoder and the gear. The encoders of the motor packages are defined as " | ||
- | <code c> | ||
- | eeros:: | ||
- | </ | ||
- | Because the HAL is configured correctly, we get the current position in radian of each encoder. | ||
- | Next up, the " | ||
- | <code c> | ||
- | using AxisVector = eeros:: | ||
- | </ | ||
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- | ===== Kinematic ===== | ||
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- | The '' | ||
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- | ===== Setpoint ===== | ||
- | Now we switch to the left. We got two possible input types. The "Mouse Input" gets the movement of the mouse and all the buttons attached to it, we use this block to manually control the Delta robot. The output of the "Mouse Input" is an AxisVector containing x, y, z and phi values. X and y change with the mouse movement. Z changes when scrolling up or down on the mouse wheel. Phi changes when pressing the mouse wheel to left or to right. To initialize the "Mouse Input" you have to add the input device as parameter to the constructor, | ||
- | <code c> | ||
- | eeros:: | ||
- | </ | ||
- | Do not use "/ | ||
- | The " | ||
- | The "Motor Model" gets the actual speed and the calculated torque as input, and outputs the desired voltage for each motor.\\ | ||
- | The " | ||
control-ntb.1565359992.txt.gz · Last modified: 2019/08/09 16:13 by visentin