I resolved the tilt from the video

A project log for Servo-Stock

A Kossel derivative to show off a new PID control framework and command system called the Bowler Communication System.

Kevin Harrington 05/19/2014 at 20:320 Comments

In the video you can see the task space axis tilt to one side as it moves. This was caused by low rigidity in the vertical arms. I added stiffness to them and made the bottom thicker. I also shrunk the pulley for the linear axis to increase the achievable task space resolution.