Bir delta robot'un teleskopik mast sistemleri için yörünge kontrolü

In this study, trajectory control of a Delta Robot with three degrees of freedom was carried out. The design of Delta Robot has been examined. The images of the components of the robot are shared with the components. The Telescopic Mast System has been examined and the contribution of Delta Robot on this system has been demonstrated. Delta Robot's Workspace Analysis has been done by " Trajectory Control" and how to follow the path is described. The most efficient path was selected and a trajectory control was done on a determined path. A simulation was created in the MATLAB Simulink Multibody Environment, inverse kinematic codes were placed in the system and a PID control system was added. PID optimization was performed by using MATLAB Optimization Toolbox. This assembly system is simulated with the MATLAB Simulink program and the results are shared.