Jugglebot, or Dancebot??

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Jugglebot, or Dancebot??

Рет қаралды 12,043

Күн бұрын

I've been putting off fixing Jugglebot's control process for a while now, and I've finally gotten around to it. Now Jugglebot can pull off some pretty cool moves!

Пікірлер: 26

@harrisonlow Жыл бұрын

I've been putting off fixing Jugglebot's control process for a while now, and I've finally gotten around to it. Now Jugglebot can pull off some pretty cool moves!

@weirdsciencetv4999 Жыл бұрын

You can get even smoother motion if you fine tune jerk and acceleration profiles. You could also quantize what the resonant frequencies are and pass the motion profile thru some filters. But damn dude this is amazing even as it is!!! When I wrote my own motion controller, I would successively subdivide the trajectory, solve to meet velocity and accel/jerk constraints, then feed the polynomial to a queue. The interpolator would pull the polynomials for each joint, run them in sync. Then pull the next set.

@myrobotisgas Жыл бұрын

What did you program this in? I did vex robotics which had an api and IDE for its own proprietary hardware that made it easier to control the motors. But I want to get into custom electronics and I know nothing about setting up a program. For more context, I have experience with coding custom PID controller classes and doing some inverse kinematics to control motion. I also wrote some trapezoidal motion profiles but I haven’t tied it all together for a system this complex

@weirdsciencetv4999 Жыл бұрын

@@myrobotisgas oh, well I wrote this in C on a PIC32MX460 running freeRTOS. For the fast thread, I had a timer interrupt at 32768 Hz that bypassed the actual RTOS. This is the one that updated the interpolator and sent the stepper pulses. The gcode interpreter would make calls to the motion planner, which would block if the interpolator queue was full. So it would receive motion commands, subdivide the tool path, then use inverse kinematics to calculate the polynomials to send to the interpolators. The interpolators then sent their position and velocity values to the step pulse generator. Some interesting examples of machine control would be linuxCNC or Machine Kit. I got linuxCNC running on a RPI4 without too much trouble. I might try seeing if I can port my code to the SKR3 from Big Tree Tech.

@zafariqbal7570 Жыл бұрын

Xjxd

@bobbob1730 11 ай бұрын

Specifically looking at applying a notch filter to resonant frequencies. Like 4-5 years ago i read some papers which looked into using them to avoid exciting vibrations in start stop motions for low stiffness cnc applications.

@MiklosGalicz Жыл бұрын

Through the whole video, I was wondering where could I fit a hotend and a build plate :D

@weirdsciencetv4999 Жыл бұрын

And this choreography is amazing!

@DrZzs 11 ай бұрын

I've watched this like 12 times! AMAZING work! I've been following along and am SUPER excited to see what you can achieve! Keep it up! I'm desperate to know how you are controlling this! Clearly you have some mad skillz but you probably have a secret too. At least that what I am guessing!

@harrisonlow 11 ай бұрын

Cheers! No big secrets here - just some inverse kinematics to figure out the leg lengths for each frame, then send those commands to the stepper motors. I plan to make a video detailing the control of Stewart Platforms so stay tuned if you're interested in that 😊

@00swinter21 Жыл бұрын

great bot

@curiouscatlabincgetsworrie7755 Жыл бұрын

Turn it upside down and make a 3D delta printer extraordinaire? :D It should be able to hold an extruder doing rotational or tilting movements, right? Would that be spectacular? Yes, it would, if you ask me!

@hankb7725 5 ай бұрын

cool. how do you control the motors? did you make your own program?

@harrisonlow 5 ай бұрын

Yep! This one was controlled with a Teensy 4.0 running my own firmware. For a more recent version of the code, check out this project's Github repo (link can be found on my YT Channel) 😊

@kjungst Жыл бұрын

This is the future helicopter landing on navy boats ?

@harrisonlow Жыл бұрын

That would be pretty awesome!

@heatherlow9848 Жыл бұрын

Dance bot 💃🕺

@Frappe3621 Жыл бұрын

Could you mal it into a 3D printer

@rajpatel5175 4 ай бұрын

What is the cost behind this mechanism??

@harrisonlow 4 ай бұрын

I'm honestly not too sure but I'd guess the whole thing was probably around AUD$1000? Maybe +/- a few hundred $

@badsamaritan8223 11 ай бұрын

is this using inverse kinematics??

@harrisonlow 11 ай бұрын

You bet! I'm planning to publish a video detailing how this works sometime in the next few months, so if you're curious, stay tuned 😊

@BigfootPrinting Жыл бұрын

Are these steppers or brushless servos with FOC?

@harrisonlow Жыл бұрын

Brushless with FOC. I'm using ODrive controllers (v3.6) and ODrive motors (D6374) ☺️

@d.i.vonbriesen8464 11 ай бұрын

putting this here because there are way too many comments on the other vides. If you take apart a laser printer, you'll see very few bearings, and a lot of smooth metal rods going thru plastic (delrin? mdf?) bushings with some grease. A good printer will go YEARS and so i'm assuming millions of cycles. Why not replace those SIX bearings and all their supports with something like that - seems way over done for the job, and eliminates a good deal of the work/printing/complexity.