Development of experimental setup and Simulink model for a delta robot

Abstract

In this project, the experimental setup and Simulink model for a delta robot are studied. First, the inverse kinematic and forward kinematic models of the delta robot are studied, and then a kinematic simulation of the delta robot to track the desired Cartesian trajectory of the end effector is performed. Next, the dynamic model of the delta robot is developed, and the Computed Torque Control method is considered to include the dynamic behaviour of the robot. The kinematic simulation shows excellent compliance with tracking the desired path; however, when the effect of dynamic parameters is considered, and the input of the motor should be torque, it is necessary to use a dynamic model.