Actual robot with stereophotogrammetry validation

This video shows the actual parallel robot executing a trajectory. The encoder sensors obtain the displacement of each robot joint to stablish the trajectory control and, in order to validate the results, the stereophotogrammetry system record the robot movements. The trajectory obtained by the cameras ratify the results obtained by the encoders.

In this video, the trajectory considered is a horizontal displacement, at constant velocity, of the origin of the mobile reference system, keeping the orientation of said platform constant. The coordinates (x_m, z_m) of the origin of the mobile reference system in its initial position are (-0.048, 0.631) m.

With more detail, this reference consists of a first movement in the Z-axis (from 0.631m to 0.72m). In the next 5 seconds, the robot changes the rotation angles q and y of the mobile platform from the original orientation to 0 radians. After that, a lineal movement in the X-axis from -0.048m to 0.152m at a constant velocity of 0.02m/s is executed during 10 seconds. In this position, the robot remains during 5 seconds, and then, it do the inverse movements to return to the origin.