I am using a 5 axis Robot arm (Robolink robot from Igus) to perform some 3D printing routines. By now I am trying to use them and have him have some good position (and speed) control. The robot is atuated by stepper motors (encoders included), but, generally, it lacks stiffnnes. When I tech him some consecutive reference positions its movement is not very soft. I believe I can improve its behaviour by tunning speed references (maximum speed, minimum speed, reference speed) of each joint. Can anybody give me some hint on how to set good speed references?
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$\begingroup$ You can try micro-stepping and use a g code with the trajectory for the arm. $\endgroup$ – Felipe Henrique Nov 17 '19 at 21:46
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I think the softness you describe has to do with stepper motor step sizes, try micro stepping to increase smoothness. And devise a motion profile with 3rd order spline to have acceleration equal to zero at turning points.
