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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 AxisVector has four degrees.

Control System of the Delta Roboter

When detecting blocks, the TCP moves down in a first step. Then it switches to force mode. In that mode, it moves forward by applying a constant force. This force should be as low as possible to avoid loud clicking when making contact with a block while it must be high enough to overcome friction.

ntb/control_system.txt · Last modified: 2023/05/25 14:43 by ursgraf