Delta Robot Resolution Calculation

[Anonymous]

Hi,

I’m currently in the process of calculating the resolution for a delta robot. I’ve completed the inverse/forward kinematics and was wondering how you calculated resolution. Currently I am using this method:

Desired coordinates (x0,y0,z0) -> Inverse kinematics -> Motor angles -> Quantise angles -> Forward kinematics -> Actual coordinates (x1,y1,z1)

Resolution = sqrt(((x-x0)^2)+((y-y0)^2)+(z-z0)^2)

I understand that this method does not give the minimum resolution. Any help you give would be much appreciated.

Many thanks,
Luciano

[Anonymous]

I used https://www.marginallyclever.com/other/samples/fk-ik-test.html and found the smallest and largest steps within the work envelope. Does that help?

[Anonymous]

I think I understand now. The resolution in this case is simply the distance between two points in space when one motor is actuated by the smallest angular displacement capable of the stepper motor. I believe I was trying to calculate the error of the system above.

[Author]

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