The IK model I made doesn't hold true on the mm scale. No idea why. Could be a flaw in the model, could be I've missed a mechanical aspect of the design. It might be the extension beam. So I'm going to pull that off and do some basic testing of the bare platform. If necessary I'll set up a calibration grid and fudge the control values to make it work. I'm about to get insanely busy with family stuff though, so blog postings may slow down. If anyone wants to work on the project though, I'll make time to set 'em up.
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