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Modeling and control of a Delta-3 robot

Olsson, André (2009) In MSc Theses
Department of Automatic Control
Abstract
This Master Thesis describes the mathematical modeling of a Delta-3 robot actuated by motors and drive units developed by ELAU GmbH. A given model of the ELAU GmbH drive unit and motor is used when building the Delta-3 robot model including three drive units, one for each motor to be able to actuate the three upper arms. The Delta-3 robot model is divided into kinematics and dynamics parts. The kinematics is used to calculate the trajectories for the three robot arms (joint space) and the corresponding motion of the robot travelling plate (Cartesian space). The Thesis also looks into the robot dynamics, so the coupling effect between the three arms is taken into account in the Simulink model. Different trajectories created with ELAU GmbHs... (More)
This Master Thesis describes the mathematical modeling of a Delta-3 robot actuated by motors and drive units developed by ELAU GmbH. A given model of the ELAU GmbH drive unit and motor is used when building the Delta-3 robot model including three drive units, one for each motor to be able to actuate the three upper arms. The Delta-3 robot model is divided into kinematics and dynamics parts. The kinematics is used to calculate the trajectories for the three robot arms (joint space) and the corresponding motion of the robot travelling plate (Cartesian space). The Thesis also looks into the robot dynamics, so the coupling effect between the three arms is taken into account in the Simulink model. Different trajectories created with ELAU GmbHs own software are imported to Matlab workspace and simulated with the Simulink model. The results from the Simulink model are compared with the results from a real Delta-3 robot driven by ELAU GmbH hardware and software. The Jacobian matrix for the Delta-3 robot is also calculated to be used in the equations for the coupling effect between the three arms. The Jacobian matrix is also implemented in ELAU GmbH software to be able to calculate the joint velocity or joint acceleration when the TCP velocity or TCP acceleration is known and vice versa. These results can then be used in equations for calculating the torque which is needed for each of the three motors to actuate the upper arms along with the desired TCP trajectory. The torque calculations can be done offline so the real robot don't have to be running, which gives the opportunity to see how much torque each motor needs so the robot is able to follow the desired trajectory for the robots travelling plate. Experiments with comparison between the Simulink model and the real robot are done and the results of the measured values are shown in the Thesis. Also the experiments for the implementation of the Jacobian matrix in ELAU GmbH software are shown in the Thesis. (Less)
Please use this url to cite or link to this publication:
author
Olsson, André
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5834
ISSN
0280-5316
language
English
id
8847521
date added to LUP
2016-03-17 10:14:11
date last changed
2016-03-17 10:14:11
@misc{8847521,
  abstract     = {This Master Thesis describes the mathematical modeling of a Delta-3 robot actuated by motors and drive units developed by ELAU GmbH. A given model of the ELAU GmbH drive unit and motor is used when building the Delta-3 robot model including three drive units, one for each motor to be able to actuate the three upper arms. The Delta-3 robot model is divided into kinematics and dynamics parts. The kinematics is used to calculate the trajectories for the three robot arms (joint space) and the corresponding motion of the robot travelling plate (Cartesian space). The Thesis also looks into the robot dynamics, so the coupling effect between the three arms is taken into account in the Simulink model. Different trajectories created with ELAU GmbHs own software are imported to Matlab workspace and simulated with the Simulink model. The results from the Simulink model are compared with the results from a real Delta-3 robot driven by ELAU GmbH hardware and software. The Jacobian matrix for the Delta-3 robot is also calculated to be used in the equations for the coupling effect between the three arms. The Jacobian matrix is also implemented in ELAU GmbH software to be able to calculate the joint velocity or joint acceleration when the TCP velocity or TCP acceleration is known and vice versa. These results can then be used in equations for calculating the torque which is needed for each of the three motors to actuate the upper arms along with the desired TCP trajectory. The torque calculations can be done offline so the real robot don't have to be running, which gives the opportunity to see how much torque each motor needs so the robot is able to follow the desired trajectory for the robots travelling plate. Experiments with comparison between the Simulink model and the real robot are done and the results of the measured values are shown in the Thesis. Also the experiments for the implementation of the Jacobian matrix in ELAU GmbH software are shown in the Thesis.},
  author       = {Olsson, André},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Modeling and control of a Delta-3 robot},
  year         = {2009},
}