Parallel robot trajectory generation and control execution

This video shows the reference generation, load and execution the trajectory by means of a 3dof parallel manipulator.

First, the generation of the robot reference is obtained using a virtual joystick programmed in LabView, the systems engineering software of National Instruments. With this application the user can indicate the height of the mobile platform, as well as its orientation (pitch and roll angles). The reference can be generated using a mobile telephone or a digital tablet.

An alternative way to generate the robot reference is by using the force sensor that is installed on the mobile platform. In this case the control unit save the mobile platform position and orientation.

Once the control unit has the robot references, it can load and execute a reference to perform the position robot control.