[1] Feng Lihang, Zhang Weigong, Lin Guoyu, et al. Inverse kinematic deriving and actuator control of Delta robotusing symbolic computation technology [J]. Journal of Southeast University (English Edition), 2014, 30 (1): 51-56. [doi:10.3969/j.issn.1003-7985.2014.01.010]

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Inverse kinematic deriving and actuator control of Delta robotusing symbolic computation technology()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

30

Issue:

2014 1

Page:

51-56

Research Field:

Automation

Publishing date:

2014-03-31

Info

Title:

Inverse kinematic deriving and actuator control of Delta robotusing symbolic computation technology

Author(s):

Feng Lihang¹;  Zhang Weigong¹;  2;  Lin Guoyu¹;  Gong Zongyang²;  Chen Gang³

¹School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
²Suzhou Research Institute, Southeast University, Suzhou 215000, China
³School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

Keywords:

delta robot;  symbolic computation;  inverse kinematic problems;  linear graph theory

PACS:

TP242

DOI:

10.3969/j.issn.1003-7985.2014.01.010

Abstract:

In order to effectively derive the inverse kinematic solution of the Delta robot and realize actuator control, a description of the linear graph principle for automatically generating kinematic equations in a mechanical system, as well as the symbolic computation implementation of this procedure, is reviewed and projected into the Delta robot. Based on the established linear graph representation, the explicit symbolic expression of constraint equations and inverse kinematic solutions are obtained successfully using a symbolic computation engine Maple, so that actuator control and trajectory tracking can be directly realized. Two practical motions, the circular path and Adept motion, are simulated for the validation of symbolic solutions, respectively. Results indicate that the simulation satisfies the requirement of the quick motion within an acceptable threshold. Thus, the precision of kinematic response can be confirmed and the correctness of inverse solution is verified.

References:

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[9] Léger M, McPhee J. Selection of modeling coordinates for forward dynamic multibody simulations [J]. Multibody System Dynamics, 2007, 18(2): 277-297.
[10] Hrebícek J. Mathematical modeling with maple and maplesim [J]. Journal of Applied Mathematics, 2008, 1(2): 227-240.
[11] López M, Castillo E, García G, et al. Delta robot: inverse, direct, and intermediate Jacobians [J]. Journal of Mechanical Engineering Science, 2006, 220(1): 103-109.
[12] Nabat V, Rodriguez M, Krut S, et al. Par4: very high speed parallel robot for pick-and-place [C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Alberta, Canada, 2005: 553-558.

Memo

Memo:

Biographies: Feng Lihang(1987—), male, graduate; Zhang Weigong(corresponding author), male, doctor, professor, zhangwg@seu.edu.cn.
Foundation item: The National Natural Science Foundation of China(No.51205208).
Citation: Feng Lihang, Zhang Weigong, Lin Guoyu, et al. Inverse kinematic deriving and actuator control of Delta robot using symbolic computation technology[J].Journal of Southeast University(English Edition), 2014, 30(1):51-56.[doi:10.3969/j.issn.1003-7985.2014.01.010]

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