Research Article
The Graphical User Interface for Controlling Delta Robot Movement through G-Code
@INPROCEEDINGS{10.4108/eai.5-10-2022.2327484, author={Riska Analia and Nur Afif Gozali and Daniel Sipahutar and Susanto Susanto and Eko Rudiawan Jamzuri}, title={The Graphical User Interface for Controlling Delta Robot Movement through G-Code}, proceedings={Proceedings of the 5th International Conference on Applied Engineering, ICAE 2022, 5 October 2022, Batam, Indonesia}, publisher={EAI}, proceedings_a={ICAE}, year={2023}, month={6}, keywords={delta robot parallel arm g-code inverse kinematics graphical user interface}, doi={10.4108/eai.5-10-2022.2327484} }- Riska Analia
Nur Afif Gozali
Daniel Sipahutar
Susanto Susanto
Eko Rudiawan Jamzuri
Year: 2023
The Graphical User Interface for Controlling Delta Robot Movement through G-Code
ICAE
EAI
DOI: 10.4108/eai.5-10-2022.2327484
Abstract
This research aims to develop a Graphical User Interface (GUI) to control the delta robot using the G-Code command in real time. The proposed mechanical design of the delta robot adopts a parallel arm mechanism. As the primary controller, the Arduino Uno has been chosen as a bridge to translate the joint command from the computer to the robot stepper motor. Furthermore, we proposed the G-Code command to control the delta robot end effector. The system interface was carried out using the C# programming language and the.NET frameworks. As G-Code translation, we proposed an inverse kinematics equation derived from a trigonometric to decode command into joint movement. Finally, the experiment was carried out in real-time to verify our interface. As an experimental result, the proposed system successfully translates the G-Code command into end effector movement.