ntb:control_system
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ntb:control_system [2020/03/10 14:38] – ursgraf | 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 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 and the '' | + | Also, it has a forth axis for turning the TCP and the '' |
{{: | {{: | ||
|Control System of the Delta Roboter}} | |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.1583847525.txt.gz · Last modified: 2020/03/10 14:38 by ursgraf