Modeling and Simulation of Kinematics and Trajectory Planning of a Farmbot Cartesian Robot

2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON) Pub Date : 2018-08-01 DOI:10.1109/INTERCON.2018.8526399

M. Erick, S. Fiestas, R. Sixto, G. Prado

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引用次数: 9

Abstract

The Farmbot Cartesian robot is an open source project so that updating modifications are possible for both hardware and software in order to enhance involved processes framed by orchard and nursery environments. Currently on Farmbot project there are no relevant contributions about joint synchronicity, closed-loop motion control and kinematics formal model as a matter of improving trajectory planning without jerks and cumulative error. Taking into account, then, mechanical structural features, stepper motor angular acceleration, velocity and resolution, as well as motion transmission system in this work the kinematics, the relation between velocity motion joints and the robot end-effector velocity based on Jacobiano and cubic Spline interpolator are modelled to meet a better PTP (point to point) trajectory planning. In order to validate what is proposed a 3D virtual environment for the robot is designed (through Matlab/Simulink) that does possible display motion paths generated by equations obtained in previous steps. Finally, simulations are performed and the results showed and discussed.

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农场机器人运动学与轨迹规划建模与仿真

Farmbot笛卡尔机器人是一个开源项目，因此可以对硬件和软件进行更新修改，以增强果园和苗圃环境所涉及的流程。目前在Farmbot项目中，还没有关于关节同步性、闭环运动控制和运动学形式化模型的相关贡献，这些都是关于改善轨迹规划而没有抽搐和累积误差的问题。然后，考虑机械结构特点、步进电机角加速度、速度和分辨率，以及运动传动系统的运动学、速度运动关节与机器人末端执行器速度的关系，基于雅可比诺插值和三次样条插值建模，以满足更好的PTP(点对点)轨迹规划。为了验证所提出的建议，为机器人设计了一个3D虚拟环境(通过Matlab/Simulink)，该环境可以显示由前面步骤中获得的方程生成的运动路径。最后进行了仿真，并对仿真结果进行了分析和讨论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2018 IEEE XXV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)

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