ntb:calibration
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ntb:calibration [2020/02/27 17:37] – ursgraf | ntb:calibration [2023/05/24 12:45] (current) – [Calibrating the Delta Robot] ursgraf | ||
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You need to see the output of the loggers as described in [[: | You need to see the output of the loggers as described in [[: | ||
- | You have to place each block (no block, block 1, block 2, block 3) at all four positions and move the TCP around within the limit of the block. While doing so the calibration sequence will record the minimum and maximum values for x, y and z coordinates. To be precise, it will record the z values for all blocks but will record the x and y values just for block 3 (that' | + | You have to place each block (no block, block 1, block 2, block 3) at all four positions and move the TCP around within the limit of the block. While doing so the calibration sequence will record the minimum and maximum values for x, y and z coordinates. To be precise, it will record the z values for all blocks but will record the x and y values just for block 3 (that' |
The main program will load these calibration data at startup and use it for prescise positioning of the TCP when sorting or shuffling. | The main program will load these calibration data at startup and use it for prescise positioning of the TCP when sorting or shuffling. | ||
+ | |||
+ | The coordinates of the four positions are approximately as follows | ||
+ | ^no^x^y^ | ||
+ | |0|-0.013|0.02| | ||
+ | |1|-0.013|-0.02| | ||
+ | |2|0.028|-0.02| | ||
+ | |3|0.028|0.02| | ||
+ | |||
+ | ===== Calibration Data ===== | ||
+ | The git repository includes a directory // |
ntb/calibration.txt · Last modified: 2023/05/24 12:45 by ursgraf