Development of a URDF file for simulation and programming of a delta robot using ROS

摘要

"This work presents the development of a 3D model of an ABB IRB340 delta robot using ROS. The motion of the 3D model is based on inverse kinematics, for this, it is necessary to provide the desired coordinates of the end effector. To accomplish this task, it is detailed the derivation of the inverse kinematics equations to obtain the robot’s actuators state given the desired coordinates. Also, the results of the inverse kinematics computation are validated by means of forward kinematics equations. Once the inverse kinematics algorithm is validated, it is employed to send the control variables to the URDF model in ROS. In addition, it was created a robot motion routine to demonstrate the active operation of the 3D model in a graphical environment. It is worthwhile to mention that due to limitations on URDF joint properties the displacement of the robot’s model is limited along one axis. "