The EEROS Education Robotics Platform

User Tools

Site Tools

You are here: EEDURO Delta Robot » List with all NTB Delta Robots » Software
delta:software

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Last revisionBoth sides next revision
delta:software [2018/08/12 12:53] – [Configure the encoders] finkdelta:software [2018/08/13 09:53] – [Safety System] fink
Line 26: Line 26:
  
 ===== Safety System ===== ===== Safety System =====
-To get more informations and details how the Safety System works, please have a look into the [[http://wiki.eeros.org/eeros_architecture/safety_system/start|Safety System]] described on the [[http://wiki.eeros.org/|eeros wiki]]. +To get more informations and details how the Safety System works, please have a look into the  
-{{ :delta:software:safetysystem.jpg?300 |Safety System of the Delta roboter}}+[[http://wiki.eeros.org/eeros_architecture/safety_system/start|Safety System]] described on the [[http://wiki.eeros.org/|eeros wiki]]. 
 +{{ :delta:safetysystem.jpg?300 |Safety System of the Delta roboter}} 
 The forward paths of the Safety System are on the righthand side of the diagramm. The backward paths on the lefthand side.\\  The forward paths of the Safety System are on the righthand side of the diagramm. The backward paths on the lefthand side.\\ 
 The entry level of the Safety System is "slOff". In the file "delta.cpp" the Safety Event "doSwInit" gets triggered. In case of any failure in the Control System, the Safety Event "doEmergency" gets registered in the timedomain.\\  The entry level of the Safety System is "slOff". In the file "delta.cpp" the Safety Event "doSwInit" gets triggered. In case of any failure in the Control System, the Safety Event "doEmergency" gets registered in the timedomain.\\ 
Line 53: Line 55:
 ^Upper limit^Lower limit^ ^Upper limit^Lower limit^
 |{{:delta:motor-axis-calculation-upper-n.jpg?300|}}|{{:delta:motor-axis-calculation-lower-n.jpg?300|Lower limit of the Axis Motor}}| |{{:delta:motor-axis-calculation-upper-n.jpg?300|}}|{{:delta:motor-axis-calculation-lower-n.jpg?300|Lower limit of the Axis Motor}}|
-|Upper limit calculation below.|Measured on the Delta robot, γ is about 95°.|+|Upper limit calculation below.|Measured on the Delta robot, γ is about 5°.|
 The upper limit calculates with the following two equations: The upper limit calculates with the following two equations:
 \\ \\ \\ \\
-//tan(β)=(15-y)/17.5// \\ +//(1) tan(β)=(15-y)/17.5// \\ 
-//cos(β)=6/y// \\+//(2) cos(β)=6/y// \\
 \\ \\
 Transform this two equations until you get \\ Transform this two equations until you get \\
 \\ \\
-//17.5*sin(β)-15*cos(β)=-6// \\+//(3) 17.5*sin(β)-15*cos(β)=-6// \\
 \\ \\
 The subraction of a cosine function from a sine function results in another sine function with phase shift. So we are looking for a function in form of \\ The subraction of a cosine function from a sine function results in another sine function with phase shift. So we are looking for a function in form of \\
 \\ \\
-//A*sin(β+φ)// \\+//(4) A*sin(β+φ) = 17.5*sin(β)-15*cos(β)// \\
 \\  \\ 
 By using the addition theorem we get \\ By using the addition theorem we get \\
Line 73: Line 75:
 Now we can compare the coefficients from sin(β) and cos(β) \\ Now we can compare the coefficients from sin(β) and cos(β) \\
 \\ \\
-// 17.5=A*cos(φ)// \\ +//(5) 17.5=A*cos(φ)// \\ 
-//-15=A*sin(φ)// \\+//(6) -15=A*sin(φ)// \\
 \\   \\  
-By dividing this two functions we get \\+By dividing (6) by (5) we get \\
 \\ \\
 // -15/17.5=sin(φ)/cos(φ)=tan(φ) -> φ = arctan(-15/17.5)=-40.60°//\\ // -15/17.5=sin(φ)/cos(φ)=tan(φ) -> φ = arctan(-15/17.5)=-40.60°//\\
Line 85: Line 87:
 // A = sqrt(17.5<sup>2</sup>+(-15)<sup>2</sup>) = 23.048 //\\ // A = sqrt(17.5<sup>2</sup>+(-15)<sup>2</sup>) = 23.048 //\\
 \\ \\
- +Inserting the values in (4)\\ 
 +\\ 
 +//23.048*sin(β-40.60°)=17.5*sin(β)-15*cos(β)=-6//\\ 
 +\\ 
 +we can now solve for β\\ 
 +\\ 
 +//β=arcsin(-6/23.048)+40.60° = 25.51°\\ 
 +\\ 
 +The maximum angle which the Gear axis can turn is // 90°+5°+25°=120°//.\\ 
 +\\ 
 +===Calculate the TCP Motor=== 
 +{{ :delta:software:hal-hem3.jpg?300 |HAL config for HEM3 encoder}} 
 +As described in the previous encoder, the values are now: 
 +  * gear ratio: 120:1 
 +  * lines per revolution: 256 
 +So one turn on the gear axis results in // 256*4*120 = 122880 // counts.\\ 
 +\\ {{ :delta:tcp-limit.jpg?300 |TCP limit}} 
 +The TCP rotation is also limited. The maximum turn angle is calculated as follows:\\ 
 +\\ 
 +//sin(γ/2) = r/R//\\ 
 +//γ=2*arcsin(r/R)=3.438°//\\ 
 +\\ 
 +Thats the value for one side. The other side is identical, so the maximum angle to turn is\\ 
 +\\ 
 +//360°-2*3.438°=353°//.