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Configuration and control of the Laser-Tau robot system for high accuracy laser applications

Torregrosa Antón, Álvaro (2019)
Department of Automatic Control
Abstract
This Master Thesis aims to show an approach to the design of parallel robots,specifically the development of its kinematics. To do this, screw theory will be used, focusing on its theoretical bases and taking it later to practice.

First, a theoretical definition of the inverse and forward kinematics of a parallel robot is carried out. Subsequently, algorithms are generated in Python that verify that the theory works and that it is useful to describe the kinematics
of the robot. Finally, these kinematic solutions found are then validated by simulation through the program V-REP.
Please use this url to cite or link to this publication:
author
Torregrosa Antón, Álvaro
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
other publication id
0280-5316
language
English
id
9001328
date added to LUP
2020-07-16 09:04:37
date last changed
2020-07-16 09:04:37
@misc{9001328,
  abstract     = {{This Master Thesis aims to show an approach to the design of parallel robots,specifically the development of its kinematics. To do this, screw theory will be used, focusing on its theoretical bases and taking it later to practice.

First, a theoretical definition of the inverse and forward kinematics of a parallel robot is carried out. Subsequently, algorithms are generated in Python that verify that the theory works and that it is useful to describe the kinematics
of the robot. Finally, these kinematic solutions found are then validated by simulation through the program V-REP.}},
  author       = {{Torregrosa Antón, Álvaro}},
  language     = {{eng}},
  note         = {{Student Paper}},
  title        = {{Configuration and control of the Laser-Tau robot system for high accuracy laser applications}},
  year         = {{2019}},
}