Trajectory planning and execution in the workspace for a Delta robot

Authors

  • Diego Edissón Flórez-Vergara Universidad Militar Nueva Granada (Bogotá-Distrito Capital, Colombia).
  • Fabián Camilo Castro-Riveros Universidad Militar Nueva Granada (Bogotá-Distrito Capital, Colombia).
  • Ricardo Andrés Castillo-Estepa Universidad Militar Nueva Granada (Bogotá-Distrito Capital, Colombia).

DOI:

https://doi.org/10.19053/01211129.4631

Keywords:

Delta robot, Jacobian, joint space, singularities

Abstract

This paper describes a technique for trajectory planning and execution in Cartesian Space to be applied in a delta robot. In order to configure and generate the desired path, is designed a software with Graphical User Interface (GUI), in which, the proposed algorithm is implemented to calculate and display the robot movement through midpoints in the workspace.

To validate the generated path is used a Delta robot designed and built in the Colombian Robotics Laboratory at Nueva Granada Military University. This robot is controlled by an electronic circuit that enables the proper implementation of the proposed technique. That makes it possible to validate the trajectories calculated by the algorithm and displayed in the simulation software, using a real robot.

Downloads

Download data is not yet available.

References

A. Barrientos, L. F. Peñín, C. Balaguer and R. Aracil, Fundamentos de robótica, 2nd ed. Madrid, España: Mc Graw Hill, 2007.

M. Mellado-Arteche. Robótica. Valencia. España: Universidad Politécnica de Valencia, 2011.

J. P. Merlet, Parallel Robots, 2nd ed. Dordrecht, Netherlands: Springer, 2006.

X-J. Liu and J. Wang, Parallel Kinematics: Type, Kinematics, and Optimal Design. Heidelberg, Germany: Springer Berlin Heidelberg, 2014. DOI: http://dx.doi.org/10.1007/978-3-642-36929-2. DOI: https://doi.org/10.1007/978-3-642-36929-2

R. Clavel, “Device for the movement and positioning of an element in space,” U.S. Patent 4976582, Dec. 1990.

L. Urrea and S. Medina, “Diseño e implementación de una plataforma robótica tipo Delta”. Trabajo de Grado, Ingeniería en Mecatrónica, Facultad de Ingeniería, Universidad Militar Nueva Granada, Bogotá D.C., Colombia, Sep. 2012.

S. B. Niku, Introduction to Robotics: Analysis, Control, Applications, 2nd ed. Hoboken, USA: John Wiley & Sons Inc., 2010.

M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modeling and Control. USA: John Wiley & Sons, 2005.

S. K. Saha, Introducción a la robótica. Noida, India: McGraw-Hill, 2010.

J. J. Craig, Robótica, 3rd ed. Atlacomulco, México: Pearson Educación, 2006.

S. Y. Nof, Handbook of Industrial Robotics, 2nd ed. USA: John Wiley & Sons, 1999. DOI: http://dx.doi.org/10.1002/9780470172506. DOI: https://doi.org/10.1002/9780470172506

L. Biagiotti and C. Melchiorri, Trajectory Planning for Automatic Machines and Robots. Heidelberg, Germany: Springer, 2008.

B. Siciliano, L. Sciavicco, L. Villani and G. Oriolo, Robotics: Modeling, Planning and Control. London, United Kingdom: Springer, 2009. DOI: http://dx.doi.org/10.1007/978-1-84628-642-1. DOI: https://doi.org/10.1007/978-1-84628-642-1

R. N. Jazar, Theory of Applied Robotics: Kinematics, Dynamics and Control, 2nd ed. Boston, USA: Springer US, 2010. DOI: http://dx.doi.org/10.1007/978-1-4419-1750-8. DOI: https://doi.org/10.1007/978-1-4419-1750-8

P. Corke, Robotics, Vision and Control: Fundamental algorithms in MATLAB®. Heidelberg, Germany: Springer, 2011. DOI: http://dx.doi.org/10.1007/978-3-642-20144-8. DOI: https://doi.org/10.1007/978-3-642-20144-8

MathWorks SimMechanics™. [Online]. Available: http://www.mathworks.com/products/simmechanics/.

ARDUINO® Leonardo. [Online] Available: https://www.arduino.cc/en/Main/arduinoBoardLeonardo.

Downloads

Published

2016-05-03
Metrics
Views/Downloads
  • Abstract
    1762
  • PDF (Español)
    692
  • HTML (Español)
    2136

How to Cite

Flórez-Vergara, D E, Castro-Riveros, F C, & Castillo-Estepa, R A. (2016). Trajectory planning and execution in the workspace for a Delta robot. Revista Facultad de Ingeniería, 25(42), 75–88. https://doi.org/10.19053/01211129.4631
Crossref
Scopus
Google Scholar
Europe PMC

Issue

Vol. 25 No. 42 (2016)

Section

Papers

License

All articles included in the Revista Facultad de Ingeniería are published under the Creative Commons (BY) license.

Authors must complete, sign, and submit the Review and Publication Authorization Form of the manuscript provided by the Journal; this form should contain all the originality and copyright information of the manuscript.

The authors who publish in this Journal accept the following conditions:

a. The authors retain the copyright and transfer the right of the first publication to the journal, with the work registered under the Creative Commons attribution license, which allows third parties to use what is published as long as they mention the authorship of the work and the first publication in this Journal.

b. Authors can make other independent and additional contractual agreements for the non-exclusive distribution of the version of the article published in this journal (eg, include it in an institutional repository or publish it in a book) provided they clearly indicate that the work It was first published in this Journal.

c. Authors are allowed and recommended to publish their work on the Internet (for example on institutional or personal pages) before and during the process.
review and publication, as it can lead to productive exchanges and a greater and faster dissemination of published work.

d. The Journal authorizes the total or partial reproduction of the content of the publication, as long as the source is cited, that is, the name of the Journal, name of the author (s), year, volume, publication number and pages of the article.

e. The ideas and statements issued by the authors are their responsibility and in no case bind the Journal.