Path planning of linear trajectories on an experimental delta pick and place manipulator
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Universidad Santo Tomás
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Abstract
This paper aims to study the motion of an experimental prototype of a
Delta robot funded by Universidad Santo Tomas according to the second
internal call of hotbed of research 2010-2011 with the project code 2010115.
To continue with the research of MAIR (Mechanical Association for Indus-
trial Research), and bring the project to possibly industrial applications,
it is necessary to characterize the appropriate drivers for the experimental
Delta robot motions, for being able to implement a movement of a trajec-
tory in space. All the trajectories will be supported by inverse kinematics
equations for a 3 DOF (Degrees Of Freedom) parallel architecture robot,
to identify the position of the end e ector from one coordinate in space to
another. In long terms, it is intended to provide detailed information of
trajectories in the space that will make easier the process of motion control
with educational controllers or industrial controllers, as this would come to
be a new project.
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