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Map the workspace - Resolutions and kinematically-derived tolerances #3

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
*Find the minimum and maximum delta movements
**At all positions in the work-space from any adjacent one

Original issue reported on code.google.com by Mad.Hephaestus@gmail.com on 17 Dec 2011 at 5:29

GoogleCodeExporter commented 8 years ago 
Any progress on this?

Original comment by Mad.Hephaestus@gmail.com on 1 Jan 2012 at 9:52

GoogleCodeExporter commented 8 years ago 
As stated in Issue 1, we appear to reach a 50 micrometer error upper bound with 
a 2^14 count per revolution encoder.
The actuated rotational joints range over 14 to -75 degrees from horizontal for 
a 100mm cube centered x and y and from -200mm to -300mm z.

Original comment by jono...@gmail.com on 5 Feb 2012 at 1:30

GoogleCodeExporter commented 8 years ago 
From checking the impact of slop error, lumped at the knee, we appear to get 
about 7.4 times the total slop in each leg in positioning error at the end 
effector. If the error is spherical, that number is probably more like 5.25 - 
the test presently checks directly using a cube of offsets. The magnitude of 
the error appears to be essentially proportional to that of the slop.

This means that to reach a 50 micron error (neglecting any resolution error) we 
would need about 7 microns total slop per arm, for about 2 microns per joint, 
or 3 microns if the guess of 5.25 is correct.

Also, sufficient prototype kinematics exists that this is no longer blocked on 
Task 1

Original comment by jono...@gmail.com on 5 Feb 2012 at 1:40

GoogleCodeExporter commented 8 years ago

Original comment by jono...@gmail.com on 5 Feb 2012 at 1:41

GoogleCodeExporter commented 8 years ago

Original comment by Mad.Hephaestus@gmail.com on 5 Feb 2012 at 5:24

GoogleCodeExporter commented 8 years ago 
I believe this is done, unless there are further issues not covered by the 
octave code posted in Issue 1. Please reopen if there are other sources of 
error we need to quantify.

Original comment by jono...@gmail.com on 15 Feb 2012 at 6:25