Made a quick diagram and a couple of calculations in matlab, let me know if it works for you. First of all, I am assuming you are considering your piece of paper as your reference coordinate system (CS), in the sense that the coordinates $(x_2, y_2)$, are the input to your problem. Also, I will consider $\theta_1$ and $\theta_3$, as the positions of your ...


How does a controller translate a move x 20 units to moving the stepper x amount of steps and keep dimensional accuracy? If the CAD G-code says move 200 mm in the x direction, how to you translate the G-code to tell the stepper motor that 200 mm? The G-Code interpreter interprets the motion command. It applies some basic transformations on it to make sure ...


grbl has a trapezoidal velocity profile. It has an acceleration limit (so a ramp on the velocity), but does not set a jerk limit. Jerk limiting would be probably an overkill for stepper-motors. However, grbl does use smooth stepping on for the stepper motors, this reduces the stepping frequency induced vibrations. Source: here


You can do that in Proteus. You can simulate a stepper motor there, but only to see the motion, it is not possible to simulate the speed, inertia, and mechanical response.

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