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README.md
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This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion control platform achieving submicron precision.
It's designed for applications such as optical alignment, probing electronic components, and microscopy.
Check out the YouTube video for more information about the device and how it is built:
Check out the YouTube video for more information about the device and how it is built:<br>
[An Open Source Motorized XYZ Micro-Manipulator - Affordable sub µm Motion Control](https://youtu.be/MgQbPdiuUTw)
# Youtube Video
[![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)
[![DeviceInMotion](images/overview.gif)](https://youtu.be/MgQbPdiuUTw)
Thanks to its parallel kinematic structure and miniature ball joints, it achieves good mechanical stiffness and a large range of motion.
The motors are off the shelf stepper motors dr​iven by a 30 kHz closed loop controller and a very precise PWM signal.
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| `M51` | Get motion controller and servo loop update frequency. |
| `M52` | Get the number of items in the planner queue. |
| `M53` | Check if all moves are finished. Returns `1` if finished, `0` otherwise. |
# Youtube Video
[![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)