Another quick update to show some progress made this evening. I’ve plugged my inverse kinematics code into a quick and dirty motor controlling serial comms link to the Arduino and can now move the head of the delta robot to arbitrary XYZ coordinates. Here’s a video showing the plotting of slightly misshapen square (need some micro-switches to finished the calibration routine)
I should be able to get some more speed out of it by improving the Arduino comms link (it’s sending individual steps to the motors).
I’ll get around to doing a more descriptive post once I’ve got G-Code interpretation working (all the python code is done, just have to plug the bits together).