Publication: Design and development of delta robotic arm and its control system for pick-and-place operation
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Date
2021-07-01
Authors
Ooi, Kuan Rhen
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Abstract
In industrial automation today, several robotic manipulators have been used to perform high speed pick-and-place task. One of the most popular robotic manipulators that widely used in this application is delta robotic arm. Delta robot has excellent dynamic performance and this characteristic makes it prominent compared to the other robotic manipulator. Joint-angle control of the revolute input delta robot plays an important role in determining the movement accuracy as this input has the highest position error transfer coefficient to the end-effector. Therefore, this project aims to design and develop revolute-type delta robotic arm and practical PID controller that used to control the PMDC motor. Geometric method is used to solve delta robot kinematics. For pick-and place trajectory, cubic spline interpolation method is used to generate spline trajectory with desired initial and final velocity. Closed-loop control system is designed by using a PID controller to drive the revolute joint with Hall-effect incremental encoder as angular position feedback device. Second order setpoint filter also has been implemented in the control system to eliminate abrupt change of setpoint. When the system is operating with maximum velocity of 341 𝑚𝑚 𝑠−1 and maximum acceleration of 1864 𝑚𝑚 𝑠−2, maximum trajectory tracking error of this delta robot system is 5.409 𝑚𝑚 and maximum position error at pick-and-place spot is 0.7483 𝑚𝑚.