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ntb:control_system [2020/02/27 18:58] ursgrafntb:control_system [2021/10/22 12:05] ursgraf
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 Also, it has a forth axis and the ''AxisVector'' has four degrees. Also, it has a forth axis and the ''AxisVector'' has four degrees.
  
-{{:delta:ntb:software:controlsystem_ntb.jpg|Control System of the Delta Roboter}}+{{:delta:ntb:software:controlsystem_ntb.png 
 +|Control System of the Delta Roboter}} 
 + 
 +When detecting blocks, the TCP moves down for 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