Raspberry Pi Delta Robot Builds A Tower

An Arduino / Raspberry Pi Delta Robot I made some months ago. I recently added a Raspberry Pi for image processing. The Delta Robot is powered by 3 DC motors with rotary encoders (14 pulses per rotation) and gears (1/264 downscale). The DC motors are PID controlled (input signal: encoder pulse count, output signal: PWM).

The inverse Kinematics code I applied can be accessed here:
https://github.com/T-Kuhn/DeltaRobInverseKin

Above mentioned library was built upon this superb publication:
R.L. Williams II, "The Delta Parallel Robot: Kinematics Solutions", Internet Publication, January 2016.

Note that the bad accuracy while moving isn't caused by a problem with the IK mathematics. It's because my PID controller of the Delta Robot isn't very good.

The Raspberry Pi 2 looks at the things laying below the Delta Robot and calculates some rough coordinates. The Raspberry Pi then sends those coordinates to the Arduino (via RS232 serial bus). The Arduino then moves the Delta Robot in such a way that it reaches the rough coordinates. After that, the Raspberry Pi takes another image and the coordinates are getting refined. And then, finally, the robot picks up the thing it was aiming for. It uses a vacuum gripper for that purpose.

blog post about the Delta Picker:
https://electrondust.com/2017/11/05/arduino-delta-robot-with-computer-vision/

complete sourcecode:
https://github.com/T-Kuhn/DeltaPicker

Music:
"My Luck" by Broke For Free
http://www.brokeforfree.com

Видео Raspberry Pi Delta Robot Builds A Tower канала Electron Dust