Desarrollo de una interfaz para la teleoperación de un robot paralelo delta tipo 3RRR.

Abstract

The following research internship introduces kinematic analysis (direct and inverse) and the development of an interface for manipulating a Delta type 3RRR parallel robot by teleoperation. The structure of the parallel delta robot has a fixed and a mobile platform that are joined by independent kinematic chains, its configuration gives them advantages in conditions of rigidity, speed, precision and inertia in movement. A detailed study of ROS, of interfaces, was carried out With Python, the configuration of the dynamixel servo motors and the mathematical tools of parallel delta robots, to strengthen knowledge. During the development of the interface and software tools for the command and teleoperation of the parallel delta robot, the interfaces were implemen ted both Local as well as remote under the ROS and Python environment. A problem in data transmission was evident, due to the high sampling rate of the falcon robot, saturating the communication channel that blocked the servomotors. Additionally, a package was developed that contains all the necessary information to facilitate access to the advances developed during the research internship. This research internship was developed at the National University of Colombia under the advice of Ph.D Pedro Fabián Cárdenas Herrera.