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What are “steps per turn”?
Dear Dan,Recently I am working on the Delta Robots. I look your forward and inverse Kinematics of the delta robots and it help me a lot.In your application of forward and inverse kinematics there is a term “Steps per Turn” and this term in controlling the resolution.What do you mean by this term ?I am implementing this kinematics in MATLAB. How I can implement this “Steps per Turn” in my code or how I can calculate the resolution in my case.ThanksRegards,Zeeshan
I use three NEMA17 stepper motors to control movement of my robot. Hobby servos have 256 positions in 180 degrees. My steppers have 3200 steps per turn. I calculate resolution as distance tip moves when servo makes one step. Better would be to calculate all steps at all positions and find max/min but this is javascript and it would probably kill your browser. I have some code in the open source project that calculates the exact shape of the envelope. It could easily be expanded to calculate the min/max step (which might not be the same size everywhere in the envelope).
