[Bram]

Ok, I understand. So for Marlin to work, the kinematics are calculated in Robot Overlord and the values for each actuator are send through GCode. In most cases that should be sufficiënt, however the system should also be able to work without software like Robot Overlord, so that is not the ideal solution for me.

In the meantime I was able to get smooth motion out of the original firmware by adjusting the feedrate and acceleration as before, but waiting for the “\n> ” command before sending another is certainly required (Marlin uses “ok” as the “ready for another command”). The key here was setting the feedrate and acceleration just right to move over all points smoothly. I only should verify the platform actually gets to every “extreme” point as the platform tends to cut corners in reduced feedrate/accel.

Could Robot Overlord (3) still be used with the original Makelangelo Firmware (9.2.0)? I did not attempt to make a usable 3D-robot configuration for Robot Overlord as I have no experience with it yet.

[Bram]

Have you used the Marlin firmware for the Stewart Platform 2 yet? If so, I might be able to modify the code to fit my system more easily.

[Bram]

I see. Marlin is indeed a widely used firmware with more capabilities but is therefore more complicated. I noted the similarities as I’ve used Marlin in the past.

However, I don’t know how to make this suitable for Stewart kinematics as I am not familiar with the complex FK and IK calculations. Is this already provided in the Marlin firmware? I can’t find a way to define it should act as a stewart platform.

Also, in that case, I should be able to enter dimensions of the machine as in the currently used Makelangelo firmware. For the other settings I tried to match with the Sixi3 Marlin conversion on your blog as a guideline.

Here is a picture of the platform:

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