https://hw.eeros.org/eeduro/ 2026-05-03T11:55:53+00:00 https://hw.eeros.org/eeduro/ https://hw.eeros.org/eeduro/_media/logo.png text/html 2026-04-24T10:04:23+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/test?rev=1777025063&do=diff Test the Hardware Motors Before testing your assembled electronics plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run. We will now test each component individually. ssh into the BeagleBone blue board and run ost@bblue:$ sudo rc_test_motors -m 1 -d 1 text/html 2026-04-24T09:22:27+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/connect?rev=1777022547&do=diff Connect to the Target Start your Beagle Bone Blue * Connect the micro USB with the PC. * It takes about 15 seconds until the Beagle Bone Blue is powered up and another 15 seconds until a network adapter is shown on your host pc. Open a Terminal and check if this network is already available. text/html 2023-06-07T08:07:55+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/ntb/list?rev=1686125275&do=diff List with all NTB Delta Robots ch.ntb.eeda0001 EMS - Robotik Remarks: * Encoders of three axes have lower resolution than indicated on the website. PosNamePcsDescriptionLink3Encoder for Axis Motor3Faulhaber R IE2-512<http://www.robotstorehk.com/soccer/doc/ie2-512.pdf> On Hardware Config File: text/html 2023-05-31T14:37:07+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/build?rev=1685543827&do=diff Build the Software The application is developed on a Linux host machine and can then be deployed to the board. The software itself can be studied on <https://github.com/eeduro/delta>. Preparations Install our Linux image on the target and install the necessary SDK and tools on the host as described in text/html 2023-05-25T12:56:49+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/?image=delta%3Asoftware%3Acontrolsystem.png&ns=delta%3Asoftware&rev=1685019409&tab_details=history&media_do=diff&do=media <img src="https://hw.eeros.org/eeduro/_media/delta/software/controlsystem.png?w=500&amp;h=500&amp;tok=1bfeeb" alt="controlsystem.png" loading="lazy" width="500" height="500" /> text/html 2023-05-25T12:47:05+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/ntb/motors_init?rev=1685018825&do=diff Initialization - Zero reference The initialization for the axis motors is the same as Initialization - Zero reference with the additional motor for the TCP. Mechanical Limits of the Tool Center Point Motor The TCP rotation is limited by two metall pins. The maximum turn angle is calculated as follows: text/html 2023-05-25T12:43:41+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/ntb/control_system?rev=1685018621&do=diff Control System The ntb version has a motor in the tool point center (TCP). Positive direction is clockwise when seen from the top. The control system is the same as Control System, except that it does not have the 'circle planner ' block. It is only possible to switch between mouse motion and automatic motion, where the automatic motions is the sorting and shuffling of the three blocks. Also, it has a forth axis for turning the TCP and the text/html 2023-05-25T12:41:29+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/?image=delta%3Antb%3Asoftware%3Acontrolsystem_ntb.png&ns=delta%3Antb%3Asoftware&rev=1685018489&tab_details=history&media_do=diff&do=media <img src="https://hw.eeros.org/eeduro/_media/delta/ntb/software/controlsystem_ntb.png?w=500&amp;h=500&amp;tok=6b269b" alt="controlsystem_ntb.png" loading="lazy" width="500" height="500" /> text/html 2023-05-25T12:40:18+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/?image=ntb%3Acontrolsystem_ntb.png&ns=ntb&rev=1685018418&tab_details=history&media_do=diff&do=media <img src="https://hw.eeros.org/eeduro/_media/ntb/controlsystem_ntb.png?w=500&amp;h=500&amp;tok=81c3bb" alt="controlsystem_ntb.png" loading="lazy" width="500" height="500" /> text/html 2023-05-24T10:45:13+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/ntb/calibration?rev=1684925113&do=diff Calibrating the Delta Robot The Calibration Sequence can be started in the System ready state. Press the blue button first. While holding the blue button press the green button as well. After calibration is done the robot will be in System ready state again. From there you can start normal operation as usual. text/html 2023-05-11T15:13:13+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/control_system?rev=1683817993&do=diff Control System The coordinate system is as follows Orientation of the axis In z direction, positive values move the TCP upwards. The figure below shows the complete control system for our delta roboter. [//Control System of the Delta Roboter//] Inputs Lets start with the blue box at the bottom center of the diagram. This box represent the motors including the gears and the encoders. The encoders are defined as text/html 2023-05-11T14:45:47+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/?image=controlsystem.png&ns=0&rev=1683816347&tab_details=history&media_do=diff&do=media <img src="https://hw.eeros.org/eeduro/_media/controlsystem.png?w=500&amp;h=500&amp;tok=2b95e6" alt="controlsystem.png" loading="lazy" width="500" height="500" /> text/html 2021-05-18T12:28:23+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/?image=delta%3Asoftware%3Aorientation.png&ns=delta%3Asoftware&rev=1621340903&tab_details=history&media_do=diff&do=media <img src="https://hw.eeros.org/eeduro/_media/delta/software/orientation.png?w=500&amp;h=500&amp;tok=e41089" alt="orientation.png" loading="lazy" width="500" height="500" /> text/html 2021-05-18T12:27:49+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/?image=orientation.png&ns=0&rev=1621340869&tab_details=history&media_do=diff&do=media <img src="https://hw.eeros.org/eeduro/_media/orientation.png?w=500&amp;h=500&amp;tok=cf8a50" alt="orientation.png" loading="lazy" width="500" height="500" /> text/html 2020-03-10T12:10:15+00:00 ursgraf (ursgraf@undisclosed.example.com) https://hw.eeros.org/eeduro/?image=delta%3Antb%3Asoftware%3Asequencer_ntb.png&ns=delta%3Antb%3Asoftware&rev=1583842215&tab_details=history&media_do=diff&do=media <img src="https://hw.eeros.org/eeduro/_media/delta/ntb/software/sequencer_ntb.png?w=500&amp;h=500&amp;tok=c3b52e" alt="sequencer_ntb.png" loading="lazy" width="500" height="500" />