Inverse Kinematics

Feedback Control Diagram

Here is a position feedback loop diagram, the slider positions read from the pots are fed back to compare with user input so that the slider motors can update the slider positions accordingly. From the Jacobian derived, the x-y position and the rotation angle (theta) of the triangle can be converted to the three slider positions back and forth.

Work space

Path traced by the centroid of the triangle when the 3 links execute their complete range of motion

Circuit Diagram

The Polulu MD06A Dual H-bridge has different pin configurations than the ones other teams have. After consulting the data sheet, here is the circuit diagram hook-up that we figured would work.

Exam Question

Exam Solution

Model

Below is a SolidEdge model of our three degree of freedom system. At each vertex of the triangle sits a ball bearing. Each of these bearings is attached to a foam board rectangle, which is attached to the slider. The slider is mounted onto a foam board riser. Each riser sits on a ball bearing that allows the slider to act as a passive revolute joint.