ntb:control_system
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ntb:control_system [2019/11/30 10:54] – graf | ntb:control_system [2023/05/25 14:43] (current) – ursgraf | ||
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====== Control System ====== | ====== Control System ====== | ||
+ | The ntb version has a motor in the tool point center (TCP). Positive direction is clockwise when seen from the top. | ||
- | The figure below shows the complete control system for our delta roboter. The building blocks together with their connecting signals are denoted as given in the code. | ||
- | {{: | ||
The control system is the same as [[..:: | The control system is the same as [[..:: | ||
- | 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. | + | 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 '' | ||
+ | |||
+ | {{: | ||
+ | |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.1575107663.txt.gz · Last modified: 2019/11/30 10:54 by graf