Application of Conditional Trajectory Generation on Stewart Platform Robot as a CNC Machine Drive

Abstract

The development of industrial automation technology in recent decades has been very rapid. One of the technologies that supports industrial automation is robot manipulators. Robots can work with high precision, speed, and safety so that by using robots, industrial processes become more productive. The type of robot itself is divided into two, namely serial and parallel structures. Robots with parallel structures tend to be less studied, developed, and used in industry compared to serial structures even though there are several advantages of these parallel structures. Parallel structures have a kinematic configuration with a closed chain type, or it can be interpreted that each arm is connected to the point of origin. This relationship will result in robots having high precision and speed. Kinematic parallel manipulators perform better when compared to serial kinematics in terms of angular accuracy, acceleration at high speeds, and high stiffness. Therefore, this type of robot is very suitable for use in industries that require high-speed applications. In this study, a robot system was developed as a driving force for a CNC machine with its movements using a trajectory tracking control system. This system was chosen because this control has a point where each point contains position and speed information that is certainly needed for the CNC machine movement system.