Trajectory planning and execution in the workspace for a Delta robot
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...
| Main Authors: | , , |
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| Format: | Online |
| Language: | spa |
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Universidad Pedagógica y Tecnológica de Colombia
2016
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| Online Access: | https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631 |
| _version_ | 1801706073691783168 |
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| author | Flórez-Vergara, Diego Edissón Castro-Riveros, Fabián Camilo Castillo-Estepa, Ricardo Andrés |
| author_facet | Flórez-Vergara, Diego Edissón Castro-Riveros, Fabián Camilo Castillo-Estepa, Ricardo Andrés |
| author_sort | Flórez-Vergara, Diego Edissón |
| collection | OJS |
| description | 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. |
| format | Online |
| id | oai:oai.revistas.uptc.edu.co:article-4631 |
| institution | Revista Facultad de Ingeniería |
| language | spa |
| publishDate | 2016 |
| publisher | Universidad Pedagógica y Tecnológica de Colombia |
| record_format | ojs |
| spelling | oai:oai.revistas.uptc.edu.co:article-46312022-06-15T16:22:46Z Trajectory planning and execution in the workspace for a Delta robot Planeación y ejecución de trayectorias en el espacio de trabajo para un robot Delta Flórez-Vergara, Diego Edissón Castro-Riveros, Fabián Camilo Castillo-Estepa, Ricardo Andrés Delta robot Jacobian joint space singularities espacio de articulaciones Jacobiano robot Delta singularidades 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. En este artículo se expone una técnica de planeación y ejecución de trayectorias en el espacio cartesiano para ser aplicada en un robot delta. Con el fin de configurar y generar la trayectoria deseada, se diseña un software con interfaz gráfica (GUI), en el cual se implementa el algoritmo para calcular y visualizar los puntos intermedios de movimiento del robot en el espacio de trabajo. Para validar la trayectoria generada es utilizado un robot delta, diseñado y construido en el laboratorio de Robótica de la Universidad Militar Nueva Granada, el cual es controlado por medio de un circuito electrónico que permite la implementación adecuada de la técnica propuesta. De esta manera, es posible validar sobre el robot real las trayectorias calculadas por el algoritmo y visualizadas con el software de simulación. Universidad Pedagógica y Tecnológica de Colombia 2016-05-03 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion investigation investigación application/pdf text/html https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631 10.19053/01211129.4631 Revista Facultad de Ingeniería; Vol. 25 No. 42 (2016); 75-88 Revista Facultad de Ingeniería; Vol. 25 Núm. 42 (2016); 75-88 2357-5328 0121-1129 spa https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631/3802 https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631/5053 |
| spellingShingle | Delta robot Jacobian joint space singularities espacio de articulaciones Jacobiano robot Delta singularidades Flórez-Vergara, Diego Edissón Castro-Riveros, Fabián Camilo Castillo-Estepa, Ricardo Andrés Trajectory planning and execution in the workspace for a Delta robot |
| title | Trajectory planning and execution in the workspace for a Delta robot |
| title_alt | Planeación y ejecución de trayectorias en el espacio de trabajo para un robot Delta |
| title_full | Trajectory planning and execution in the workspace for a Delta robot |
| title_fullStr | Trajectory planning and execution in the workspace for a Delta robot |
| title_full_unstemmed | Trajectory planning and execution in the workspace for a Delta robot |
| title_short | Trajectory planning and execution in the workspace for a Delta robot |
| title_sort | trajectory planning and execution in the workspace for a delta robot |
| topic | Delta robot Jacobian joint space singularities espacio de articulaciones Jacobiano robot Delta singularidades |
| topic_facet | Delta robot Jacobian joint space singularities espacio de articulaciones Jacobiano robot Delta singularidades |
| url | https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631 |
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