Trajectory Planning of Delta Robot for Dynamic Tracking, Pick and Placement

Guang Feng Chen; Lin Lin Zhai; Lei Li; Jia Wen Shi

doi:10.4028/www.scientific.net/AMR.680.473

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 680Trajectory Planning of Delta Robot for Dynamic...

Trajectory Planning of Delta Robot for Dynamic Tracking, Pick and Placement

Abstract:

This paper focus on the trajectories planning for Delta robot, which is used to dynamic tracking, pick and place workpiece on packing line. According to the practical action requirements, defined the desired path for end actuator in Cartesian space. The control trajectories are divided into several line segments. For each section, the control points are calculated with the modified sine computing terminal trajectory. To tracking the workpiece on conveyor, a mathematical models is developed to describe the target position and limitation of robot hardware. Newton's method is adopt to solve the model. Through calculating the right angle coordinate system of key points with inverse kinematic in joint space, generating a feasible motion control track. A demo trajectory is generated to verify the feasibility of the scheme.

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Periodical:

Advanced Materials Research (Volume 680)

Pages:

473-478

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.680.473

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Online since:

April 2013

Authors:

Guang Feng Chen, Lin Lin Zhai, Lei Li, Jia Wen Shi

Keywords:

Delta Robot, Dynamic Tracking, Forward Kinematics, Inverse Kinematic, Pick, Placement, Trajectory, Workspace

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