Modeling and Simulation of Kinematics and Trajectory Planning of a Farmbot Cartesian Robot

摘要

The Farmbot Cartesian robot is an open source project so that updating modifications are possible for both hardware and software in order to enhance involved processes framed by orchard and nursery environments. Currently on Farmbot project there are no relevant contributions about joint synchronicity, closed-loop motion control and kinematics formal model as a matter of improving trajectory planning without jerks and cumulative error. Taking into account, then, mechanical structural features, stepper motor angular acceleration, velocity and resolution, as well as motion transmission system in this work the kinematics, the relation between velocity motion joints and the robot end-effector velocity based on Jacobiano and cubic Spline interpolator are modelled to meet a better PTP (point to point) trajectory planning. In order to validate what is proposed a 3D virtual environment for the robot is designed (through Matlab/Simulink) that does possible display motion paths generated by equations obtained in previous steps. Finally, simulations are performed and the results showed and discussed.