Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build July 07, 2015 02:40AM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build July 07, 2015 06:32AM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build July 30, 2015 03:44PM |
Registered: 9 years ago Posts: 127 |
//++++++++++++++++++++Inverse Theothermike Begin +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ // /* SCARA_C2 = (pow(SCARA_pos[X_AXIS],2)+pow(SCARA_pos[Y_AXIS],2)-pow(Linkage_2/1000,2)+pow(Linkage_1/1000,2)) / (2 * pow(Linkage_1/1000,2)*sqrt(pow(SCARA_pos[X_AXIS],2)+pow(SCARA_pos[Y_AXIS],2))); //checked SCARA_S2 = pow(85.0-SCARA_pos[X_AXIS],2)+pow(SCARA_pos[Y_AXIS],2); // pow(85.0-SCARA_pos[X_AXIS],2)+pow(SCARA_pos[Y_AXIS],2); SCARA_K1 = Linkage_1/1000-Linkage_2/1000; SCARA_K2 = 2*Linkage_2/1000*sqrt(pow(SCARA_pos[X_AXIS],2)+pow(SCARA_pos[Y_AXIS],2)); SCARA_K3 = (SCARA_S2+SCARA_K1)/(SCARA_K2); // (SCARA_S2+SCARA_K1)/(SCARA_K2); SCARA_theta =(atan2(85.0 - SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])+3.1415927/2.0-(SCARA_K3)-pow(SCARA_K3,3)/6.0-3.0/40.0*pow(SCARA_K3,5)-5.0/112.0*pow(SCARA_K3,7)-35.0/1152.0*pow(SCARA_K3,9)-63.0/2816.0*pow(SCARA_K3,11)-231.0/13312.0*pow(SCARA_K3,13)-143.0/10240.0*pow(SCARA_K3,15)-6435.0/557056.0*pow(SCARA_K3,17)); //atan2(85.0 - SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])+acos((SCARA_S2+SCARA_K1)/(SCARA_K2)); //(atan2(85.0 - SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS]) + acos((SCARA_S2+SCARA_K1)/(SCARA_K2))); SCARA_psi = atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])+3.1415927/2.0-(SCARA_C2)-pow(SCARA_C2,3)/6.0-3.0/40.0*pow(SCARA_C2,5)-5.0/112.0*pow(SCARA_C2,7)-35.0/1152.0*pow(SCARA_C2,9)-63.0/2816.0*pow(SCARA_C2,11)-231.0/13312.0*pow(SCARA_C2,13)-143.0/10240.0*pow(SCARA_C2,15)-6435.0/557056.0*pow(SCARA_C2,17); //acos(SCARA_C2)+atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS]); delta[X_AXIS] = 180 - SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle delta[Y_AXIS] = SCARA_psi * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor) // */ //++++++++++++++++++++Inverse Theothermike End +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//################## Theothermikes Calculation for SCARyllA Begin.################################################################################################# // Perform forward kinematics, and place results in delta[0] // /* float y1, y2, x1, x2, df0, df1, df2, df3; y1 = sin(f_delta[Y_AXIS]/SCARA_RAD2DEG) * Linkage_1 / 1000; y2 = sin(f_delta[X_AXIS]/SCARA_RAD2DEG) * Linkage_1 / 1000; x1 = cos(f_delta[Y_AXIS]/SCARA_RAD2DEG) * Linkage_1 / 1000; x2 = 85.0 + cos(f_delta[X_AXIS]/SCARA_RAD2DEG) * Linkage_1 / 1000; df0 = (sqrt(pow(df1,2) + pow(df2,2)))/(2 * Linkage_2/1000); df1 = (x2 - x1); df2 = (y2 - y1); df3 = atan2(df2 , df1) + 3.1415927/2.0-(df0)-pow(df0,3)/6.0-3.0/40.0*pow(df0,5)-5.0/112.0*pow(df0,7)-35.0/1152.0*pow(df0,9)-63.0/2816.0*pow(df0,11)-231.0/13312.0*pow(df0,13)-143.0/10240.0*pow(df0,15)-6435.0/557056.0*pow(df0,17); delta[X_AXIS] = x1 + Linkage_2/1000 * cos(df3) + SCARA_offset_x; delta[Y_AXIS] = y1 + Linkage_2/1000 * sin(df3) + SCARA_offset_y; // */ //################## Theothermikes Calculation for SCARyllA END.#################################################################################################Again, acos() was not working --> Same Taylor expansion.
// Manual homing switch locations: // For deltabots this means top and center of the cartesian print volume. // Scara: x centered, y 0 #define MANUAL_X_HOME_POS -105.0 #define MANUAL_Y_HOME_POS 105.0 #define MANUAL_Z_HOME_POS 210 // Distance between nozzle and print surface after homing.
// SCARA tower offset (position of Tower relative to bed zero position) // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. #define SCARA_offset_x 0.0 //mm #define SCARA_offset_y 0.0 //mm
// default settings #define DEFAULT_AXIS_STEPS_PER_UNIT {711, 711, 100, 450} #define DEFAULT_MAX_FEEDRATE {300, 300, 300, 45} // (mm/sec) #define DEFAULT_MAX_ACCELERATION {400, 400, 400, 8000} // X, Y, Z, E maximum start speed for accelerated moves.Currently the gear ratio is 1:80, motors exhibit 200 steps/rev and driver is set to 16x microstepping, yielding in a total of 256000 steps/rev = 711.111 steps/deg.
Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build July 31, 2015 08:06AM |
Registered: 9 years ago Posts: 127 |
Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build July 31, 2015 08:11AM |
Registered: 9 years ago Posts: 127 |
Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build July 31, 2015 01:37PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 01, 2015 07:19AM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 01, 2015 01:01PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 01, 2015 02:34PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 03, 2015 04:11PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 04, 2015 01:18PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 04, 2015 01:45PM |
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#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true #define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false and #define X_HOME_DIR -1 #define Y_HOME_DIR -1
#define FBSIGN -1 // for 5 bar only
Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 04, 2015 02:20PM |
Registered: 9 years ago Posts: 127 |
#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true #define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false and #define X_HOME_DIR -1 #define Y_HOME_DIR -1
Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 04, 2015 02:47PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 04, 2015 02:49PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 04, 2015 03:11PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 05, 2015 03:37AM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 06, 2015 10:53AM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build August 06, 2015 10:18PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build September 18, 2015 11:13PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build October 09, 2015 01:57PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build October 09, 2015 03:01PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build October 09, 2015 04:48PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build April 12, 2018 12:49PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build April 12, 2018 04:42PM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build April 16, 2018 11:41AM |
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Re: SCARyllA: Dual (parallel) arm SCARA laser engraver build April 16, 2018 11:42AM |
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