Design and Construction of a 6 DOF Robot with Ability to move the TCP in Continuous Trajectories

摘要

The generation of linear and circular trajectories continuous in time in a physical space is one of the most interesting challenges to obtain in the construction of a 6 DOF industrial robot prototype. Since it involves having a kinematic, dynamic control, trajectory generator and all integrated under efficient operating system. In this work, a 6 DOF robot is designed and implemented with the capacity to generate continuous linear and circular trajectories by means of kinematic control (direct and inverse kinematics, trapezoidal interpolators, trajectory planning) and an inverse dynamic model based on the Newton-Euler formulation for the dimensioning and selection of actuators. Finally, trajectories (point to point, linear and circular) generated in the robot under maximum load conditions are executed in order to check the dynamic performance of the robot.