Trajectory Planning of Delta Robot for Fixed Point Pick and Placement

摘要

This paper deals with the trajectories planning for Delta robot, which is used to pick and place work piece on packing line. The planning process consists of searching for a motion ensuring the accomplishment of the assigned task, minimizing the transfer time. According to the practical action requirements, defined the desired path for end actuator in Cartesian space. Devise the trajectory generation method, choose the modified sine for trajectory planning of end actuator in Cartesian space, through calculating the right angle coordinate system of key points with inverse kinematics in joint space, generating a feasible motion control trajectories. At last, a demo trajectory is generated to verify the feasibility of the scheme.