Delta robot controlled by robotic operating system

Abstract

Parallel robots, which are faster and more ro- bust than serial robots, use servomotors for movement generation on each of their joints, which are indepen- dently controlled. This control is usually addressed by wi- red connections, which increases the fail probability and has an effect on the actuation speed. In this work, we pro- pose to implement a wireless control system for parallel robots, based on RS-232 interface. We used Robotic Ope- ration System (ROS) for controlling the joint actuators, and a Python developed algorithm supported by OpenCV libraries. Experiments in a drawing application with bidi- mensional plots showed that the network implementa- tion and the control algorithm provide us with increased robustness, response velocity and reliability (lower fail probability), thanks to the reduction of connection points.