Trajectory Planning and Execution of Delta Robot

Diego Édison Flórez Vergara, Fabián Camilo Castro Riveros, Ricardo Andrés Castillo Estepa


The main purpose of this study is to plan and execute effective trajectory on the Delta robot through graphical user interface (GUI) and appropriate electronic circuits, and optimize the integration with the mechanical prototype designed and implemented by the robot laboratory of Nueva Granada Military University, while considering and respecting its different characteristics, such as mechanical structure, workspace, kinematics, dynamics and motion singularity allow the correct development and implementation of algorithms that can effectively describe and control the planned trajectory.


Algorithm; Direct Kinematics; Inverse Kinematics; Cartesian Space; Joint Space; Workspace; Jacobian; Third-order Polynomial; Robot Delta; Singular Point

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