Abstract
The generation of linear and circular trajectories continuous in time in a physical space is one of the most interesting challenges to obtain in the construction of a 6 DOF industrial robot prototype. Since it involves having a kinematic, dynamic control, trajectory generator and all integrated under efficient operating system. In this work, a 6 DOF robot is designed and implemented with the capacity to generate continuous linear and circular trajectories by means of kinematic control (direct and inverse kinematics, trapezoidal interpolators, trajectory planning) and an inverse dynamic model based on the Newton-Euler formulation for the dimensioning and selection of actuators. Finally, trajectories (point to point, linear and circular) generated in the robot under maximum load conditions are executed in order to check the dynamic performance of the robot.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
