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...

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Autores:
Tipo de recurso:
Fecha de publicación:
2016
Institución:
Universidad Pedagógica y Tecnológica de Colombia
Repositorio:
RiUPTC: Repositorio Institucional UPTC
Idioma:
spa
OAI Identifier:
oai:repositorio.uptc.edu.co:001/14144
Acceso en línea:
https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631
https://repositorio.uptc.edu.co/handle/001/14144
Palabra clave:
Delta robot
Jacobian
joint space
singularities
espacio de articulaciones
Jacobiano
robot Delta
singularidades
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License
http://purl.org/coar/access_right/c_abf322
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spelling 2016-05-032024-07-05T19:11:29Z2024-07-05T19:11:29Zhttps://revistas.uptc.edu.co/index.php/ingenieria/article/view/463110.19053/01211129.4631https://repositorio.uptc.edu.co/handle/001/14144This 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.application/pdftext/htmlspaspaUniversidad Pedagógica y Tecnológica de Colombiahttps://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631/3802https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631/5053Revista Facultad de Ingeniería; Vol. 25 No. 42 (2016); 75-88Revista Facultad de Ingeniería; Vol. 25 Núm. 42 (2016); 75-882357-53280121-1129Delta robotJacobianjoint spacesingularitiesespacio de articulacionesJacobianorobot DeltasingularidadesTrajectory planning and execution in the workspace for a Delta robotPlaneación y ejecución de trayectorias en el espacio de trabajo para un robot Deltainvestigationinvestigacióninfo:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_2df8fbb1info:eu-repo/semantics/publishedVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a405http://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/access_right/c_abf322http://purl.org/coar/access_right/c_abf2Flórez-Vergara, Diego EdissónCastro-Riveros, Fabián CamiloCastillo-Estepa, Ricardo Andrés001/14144oai:repositorio.uptc.edu.co:001/141442025-07-18 11:53:51.185metadata.onlyhttps://repositorio.uptc.edu.coRepositorio Institucional UPTCrepositorio.uptc@uptc.edu.co
dc.title.en-US.fl_str_mv Trajectory planning and execution in the workspace for a Delta robot
dc.title.es-ES.fl_str_mv Planeación y ejecución de trayectorias en el espacio de trabajo para un robot Delta
title Trajectory planning and execution in the workspace for a Delta robot
spellingShingle Trajectory planning and execution in the workspace for a Delta robot
Delta robot
Jacobian
joint space
singularities
espacio de articulaciones
Jacobiano
robot Delta
singularidades
title_short Trajectory planning and execution in the workspace for a Delta robot
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_sort Trajectory planning and execution in the workspace for a Delta robot
dc.subject.en-US.fl_str_mv Delta robot
Jacobian
joint space
singularities
topic Delta robot
Jacobian
joint space
singularities
espacio de articulaciones
Jacobiano
robot Delta
singularidades
dc.subject.es-ES.fl_str_mv espacio de articulaciones
Jacobiano
robot Delta
singularidades
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.
publishDate 2016
dc.date.accessioned.none.fl_str_mv 2024-07-05T19:11:29Z
dc.date.available.none.fl_str_mv 2024-07-05T19:11:29Z
dc.date.none.fl_str_mv 2016-05-03
dc.type.en-US.fl_str_mv investigation
dc.type.es-ES.fl_str_mv investigación
dc.type.none.fl_str_mv info:eu-repo/semantics/article
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_2df8fbb1
dc.type.coarversion.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.version.spa.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.coarversion.spa.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a405
status_str publishedVersion
dc.identifier.none.fl_str_mv https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631
10.19053/01211129.4631
dc.identifier.uri.none.fl_str_mv https://repositorio.uptc.edu.co/handle/001/14144
url https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631
https://repositorio.uptc.edu.co/handle/001/14144
identifier_str_mv 10.19053/01211129.4631
dc.language.none.fl_str_mv spa
dc.language.iso.spa.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631/3802
https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4631/5053
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
dc.rights.coar.spa.fl_str_mv http://purl.org/coar/access_right/c_abf322
rights_invalid_str_mv http://purl.org/coar/access_right/c_abf322
http://purl.org/coar/access_right/c_abf2
dc.format.none.fl_str_mv application/pdf
text/html
dc.publisher.en-US.fl_str_mv Universidad Pedagógica y Tecnológica de Colombia
dc.source.en-US.fl_str_mv Revista Facultad de Ingeniería; Vol. 25 No. 42 (2016); 75-88
dc.source.es-ES.fl_str_mv Revista Facultad de Ingeniería; Vol. 25 Núm. 42 (2016); 75-88
dc.source.none.fl_str_mv 2357-5328
0121-1129
institution Universidad Pedagógica y Tecnológica de Colombia
repository.name.fl_str_mv Repositorio Institucional UPTC
repository.mail.fl_str_mv repositorio.uptc@uptc.edu.co
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