Parallel Kinematic Robot Controller

In this report, the main work frame of parallel kinematic robot controller consist of two main components, the hardware and its circuitry, and controlling the end-effector, which is the software counterparts. In the subject of a parallel kinematic robot, or specifically in this project, the Delta ro...

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Main Author: Mohd Fouzi, Amir Muhammad Farhan
Format: Final Year Project
Language:English
Published: IRC 2014
Subjects:
Online Access:http://utpedia.utp.edu.my/14745/1/Dissertation_Farhan%20Fouzi_15490.pdf
http://utpedia.utp.edu.my/14745/
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spelling my-utp-utpedia.147452017-01-25T09:36:47Z http://utpedia.utp.edu.my/14745/ Parallel Kinematic Robot Controller Mohd Fouzi, Amir Muhammad Farhan TK Electrical engineering. Electronics Nuclear engineering In this report, the main work frame of parallel kinematic robot controller consist of two main components, the hardware and its circuitry, and controlling the end-effector, which is the software counterparts. In the subject of a parallel kinematic robot, or specifically in this project, the Delta robot, it is essential to understand the inverse and forward kinematics as well as the Jacobian matrix. These mathematical model helps to understand and to calculate the end-effector position in relation to all three of the robot’s angular motor position which are calculated using the inverse and forward kinematics. Then, the velocity of the end-effector which corresponds to the angular velocity of the motors are calculated using the Jacobian matrix. The use of these three models is to regulate and control the trajectory of the end-effector so that its path can be tightly control. The trajectory path of the end-effector is calculated using cubic spline interpolation. The control points are then extracted using this method and each control points can be individually assigned its end-effector velocity as well as its joint angle velocity. The result is a smooth control of trajectory of the end-effector. IRC 2014-09 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/14745/1/Dissertation_Farhan%20Fouzi_15490.pdf Mohd Fouzi, Amir Muhammad Farhan (2014) Parallel Kinematic Robot Controller. IRC, Universiti Teknologi PETRONAS. (Submitted)
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Electronic and Digitized Intellectual Asset
url_provider http://utpedia.utp.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd Fouzi, Amir Muhammad Farhan
Parallel Kinematic Robot Controller
description In this report, the main work frame of parallel kinematic robot controller consist of two main components, the hardware and its circuitry, and controlling the end-effector, which is the software counterparts. In the subject of a parallel kinematic robot, or specifically in this project, the Delta robot, it is essential to understand the inverse and forward kinematics as well as the Jacobian matrix. These mathematical model helps to understand and to calculate the end-effector position in relation to all three of the robot’s angular motor position which are calculated using the inverse and forward kinematics. Then, the velocity of the end-effector which corresponds to the angular velocity of the motors are calculated using the Jacobian matrix. The use of these three models is to regulate and control the trajectory of the end-effector so that its path can be tightly control. The trajectory path of the end-effector is calculated using cubic spline interpolation. The control points are then extracted using this method and each control points can be individually assigned its end-effector velocity as well as its joint angle velocity. The result is a smooth control of trajectory of the end-effector.
format Final Year Project
author Mohd Fouzi, Amir Muhammad Farhan
author_facet Mohd Fouzi, Amir Muhammad Farhan
author_sort Mohd Fouzi, Amir Muhammad Farhan
title Parallel Kinematic Robot Controller
title_short Parallel Kinematic Robot Controller
title_full Parallel Kinematic Robot Controller
title_fullStr Parallel Kinematic Robot Controller
title_full_unstemmed Parallel Kinematic Robot Controller
title_sort parallel kinematic robot controller
publisher IRC
publishDate 2014
url http://utpedia.utp.edu.my/14745/1/Dissertation_Farhan%20Fouzi_15490.pdf
http://utpedia.utp.edu.my/14745/
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score 13.154949