Delta robot controlled by robotic operating system

Abstract

Abstract-Parallel robots, which are faster and more robust than serial robots, use servomotors for movement generation on each of their joints, which are independently controlled. This control is usually addressed by wired connections, which increases the fail probability and has an effect on the actuation speed. In this work, we propose to implement a wireless control system for parallel robots, based on RS-232 interface. We used Robotic Operation System (ROS) for controlling the joint actuators, and a Python developed algorithm supported by OpenCV libraries. Experiments in a drawing application with bidimensional plots showed that the network implementation and the control algorithm provide us with increased robustness, response velocity and reliability (lower fail probability), thanks to the reduction of connection points.

ROS 2 Configuration for Delta Robot Arm Kinematic Motion and Stereo Camera Visualization

“…Some related projects have been referred to obtain the idea for this project. In the paper "Delta robot controlled by robotic operating system" [28], the implementation of wireless control system on a parallel robot based on the RS-232 interface is carried out. The simulation environment chosen in this project is ROS for implementing the controlling of the robot joint actuators.…”

“…In this project, Gazebo will be used as the 3D simulator to simulate the operation of the robotic system, and Rviz 2 will be used to visualize the stereo images captured by the virtual stereo camera attached to the delta robot arm. The research gap between this study and the work in [28] is that this project aims to simulate the kinematic motion of a delta robot with 3-DOF in Gazebo simulator by describing the robot's physical structure in an SDF file. SDF can describe the closed-loop kinematic chain linkage of the delta robot arm to be simulated in Gazebo.…”