PROBLEM DEFINITION
The problem in this project is to build a delta robot which is a type of parallel robot able to reach a specific XYZ point and should be consists of two platforms, the upper one with three motors mounted on it, and smaller one with an end effector. The platforms are connected through three arms with parallelograms; the parallelograms restrain the orientation of the lower platform to be parallel to the working surface. The motors set the position of the arms and, thereby, the XYZ-position of the end effector.
PROBLEM STATEMENT
Two main problems can be identified for sake of premium solution in this project. Firstly, giving the desired position of the end effector (e.g. to catch a pancake in the point with coordinates x, y, z), because it is necessary to determine the corresponding angles of each of three arms in order to set the motors (and, thereby, the end effector) in proper position for grasping. This process is known as inverse kinematics. Secondly, if the joint angles are known (e.g. by reading the values of the motor encoders), it is necessary to determine the position of the end effector (i.e. to make some corrections regarding its current position). This is known as a forward kinematics problem.
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