In stead of controlling my quadcopter with two joysticks I am working on a Delta Joystick. Work in progress!! Help needed!
Already have an account? Log in.
To make the experience fit your profile, pick a username and tell us what interests you.
Next to the mathematical problem, I also have a mechanical question: how to create a mechanical mid-position for the Delta, tilting to the right now also may result in movement up/down.
I designed the needed parts in Sketchup and printed them on my Ultimaker 2, the arms of the Delta are standard RC parts, I only added three springs to fix them in position. I do have the 3D files available for those interested.
jotham, you are correct, but the article, as far as I understand, describes the delta robot kinematics, and I need the inverse, so based on the position of the potentiometers calculate the XYZ cordinates. I could find some math for this using normal, rotary potentiometers, but not for linear potentiometers.
I hope I see things wrong and that it proves to be a relatively simple calculation...
Hi! The math would be similar if not exactly the same as here: http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/
I see a glove with a gyro and accelerometer on all 3 axes that will give you tilt (that's instead of 2 pots), rotation (3rd pot) and for up/down you either move the glove/hand up down (keeping the middle position as neutral) or using a spring loaded (one axis joystick) pot fixed to the glove. Or a push button to use the current spacial settings as neutral position.
Good luck.
middelbeek
Shrey Mody
Neuntoter
Irene Sanz
Brian Poor
is this project still a thing?