Parallel Kinematic Robot Controller

In this report, the main work frame of parallel kinematic robot controller consist of two main components, the hardware and its circuitry, and controlling the end-effector, which is the software counterparts. In the subject of a parallel kinematic robot, or specifically in this project, the Delta robot, it is essential to understand the inverse and forward kinematics as well as the Jacobian matrix. These mathematical model helps to understand and to calculate the end-effector position in relation to all three of the robot’s angular motor position which are calculated using the inverse and forward kinematics. Then, the velocity of the end-effector which corresponds to the angular velocity of the motors are calculated using the Jacobian matrix. The use of these three models is to regulate and control the trajectory of the end-effector so that its path can be tightly control. The trajectory path of the end-effector is calculated using cubic spline interpolation. The control points are then extracted using this method and each control points can be individually assigned its end-effector velocity as well as its joint angle velocity. The result is a smooth control of trajectory of the end-effector.