Implementación de un algoritmo de control para la simulación de un proceso de paletizado de objetos empleando un robot delta

Abstract

A controlled delta robot was implemented by means of a micro-controller (PSOC 5LP), which has the function of sending the orders to be executed so that the motor driver (TB65603V2) executes them and in this way guides the path to be followed by the final actuator of the robot, which has an electromagnet attached that is responsible for taking the parts to be stretched from a conveyor belt and taking them to their destination. This is possible by means of metal plates located in the upper part of the boxes, added to the above there is an interface in which it is possible to visualize the state of the motors and the quantity of pieces worked. The communication between the micro-controller and the motor driver is given to me through a parallel port which gives us the system's response speed