control_system
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control_system [2021/05/18 14:28] – ursgraf | control_system [2023/05/11 17:13] (current) – [Motor Model] ursgraf | ||
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The coordinate system is as follows | The coordinate system is as follows | ||
- | {{: | + | [{{ : |
+ | In z direction, positive values move the TCP upwards. | ||
+ | \\ | ||
The figure below shows the complete control system for our delta roboter. | The figure below shows the complete control system for our delta roboter. | ||
- | {{: | + | {{: |
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using AxisVector = eeros:: | using AxisVector = eeros:: | ||
</ | </ | ||
+ | The mouse delivers a signal with four dimensions. As we do not use the fourth dimension (additional wheel would be necessary) we have to reduce the mouse signal to three dimensions with a special block. At the same time this block swaps x and y axis in order to adapt to the axis setup of the robot. | ||
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* The '' | * The '' | ||
* The '' | * The '' | ||
+ | |||
+ | You have to make sure, that the path planner delivers a path with a acceleration and velocity which can in fact be achieved by the robot. If not, the arm might move in unpredictable ways. That is, moving from e.g. 0/5 to 5/5 must be made in a straight line. | ||
==== Controller ==== | ==== Controller ==== | ||
- | The "Motor Model" | + | The position of the TCP is controlled by taking in the setpoint (see above) and adding planned velocities and accelerations. The resulting total acceleration is then fed into the block ' |
- | The " | + | |
+ | ==== Motor Model==== | ||
+ | As our board cannot only control voltages fed to each motor, we must use a motor model to calculate these voltages. The block 'Motor Model' | ||
+ | < | ||
+ | U = kM * w + I * RA + dI/dt * L | ||
+ | </ | ||
+ | with I = M / kM and dI/dt * L beeing very small with our motors and accounting for the gear i we get | ||
+ | < | ||
+ | U = kM * w * i + M * RA / (kM * i) | ||
+ | </ | ||
==== Outputs ==== | ==== Outputs ==== | ||
The drive signals to the motor are of type '' | The drive signals to the motor are of type '' | ||
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eeros:: | eeros:: | ||
</ | </ | ||
+ | |||
+ | The block ' |
control_system.txt · Last modified: 2023/05/11 17:13 by ursgraf