Motion-Control Rig V3
I built this rig with my father, from wood, aluminium, pillow-block bearings and a second-hand slewing ring. Its job is to move the camera along exactly the same path again, so a miniature can be photographed in several passes and the passes line up.
Specification
- Axes
- 8
- Reach
- 1.2 m radial arm, 1 m dolly
- Kinematics
- Raspberry Pi 5, damped least squares
- Drives
- ESP32, TMC2209 stepper drivers
- Camera
- Fujifilm X-S20
- Build
- Wood, aluminium, pillow-block bearings, second-hand slewing ring
- Repeatability
- Not measured yet
- Stack
- Raspberry Pi 5 · ESP32 · TMC2209
Status
Operational· Started [TODO: date]
Control
A Raspberry Pi 5 solves the kinematics of the camera path, using damped least squares. An ESP32 with TMC2209 drivers turns the result into stepper movement.
Drag the camera
Axes
| No. | Axis |
|---|---|
| 01 | Base pan |
| 02 | Tilt |
| 03 | Radial |
| 04 | Pan 2 |
| 05 | Tilt 2 |
| 06 | Roll |
| 07 | Travelling counterweight |
| 08 | Dolly |
The radial arm reaches 1.2 m, the dolly 1 m. The camera is a Fujifilm X-S20.
Next
Repeatability is not measured yet. That is the next job. [TODO: method and result]