The Volksrobot project is initiated by the development of a revolutionary path planning method, which is the first known of it's kind to model the complete parallel structure of the Delta Robot. The result is a Path Planning without mathematical limitations and assumptions, and consequently, much faster and optimized overall path speeds. By using this new Path Planning technique, it is possible to model, not only the resulting joint torques, but also the "stiffness" of the whole parallel structure. read more
The video above shows the status quo of the project - the "Volkswagen" of robots. Built by simple and inexpensive components.. Path Planning by complete dynamic model. Servo control implemented in Arduino boards. Positions at 1 kHz, Velocity loop 8 kHz, Current loop 16 kHz. Resolvers from Austria Microsystems (AS 5043) added to motor shaft of servo.
Although Delta Robots might seem like magic, they are in fact the most mechanically simple xyz-robots you can imagine. The difficulties lies in the construction of a Dynamical Model, which is vital for successful Path Planning.
  • AC Motor Control The next prototype will be based on Permanent Magnet Synchronous Motors (PMSM), which is an AC motor type, which in principle works like a Brushless DC Motor. Following video shows ...
    Posted Sep 18, 2010, 2:12 PM by Jens Overby
  • Servo completely rebuilt Default potentiometer replaced by AS 5043 rotary encoder from Austria Microsystems. Servo control replaced by my own control loop implemented on Arduino Duemilanove board.
    Posted Apr 21, 2010, 11:13 AM by Jens Overby
  • Moments of Inertia Working hard to determine the correct dynamical parameters for the PathPlanner. Moment of Inertia of the motor, gears, and upper arm, has to be determined experimentally. I'm in the ...
    Posted Apr 21, 2010, 7:49 AM by Jens Overby
  • One Arduino for each axis I have tried to use 1 arduino for all three axes, and it can be done. However, I like to run the servo control loops at the highest possible frequency ...
    Posted Apr 21, 2010, 7:34 AM by Jens Overby
  • Rotary 4th axis I have not added a rotary 4th axis to this prototype, because the control of this axis is trivial. It is mathematically simple, whereas the physical aspects of it are ...
    Posted Apr 21, 2010, 7:31 AM by Jens Overby
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