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This work presents a novel approach for modelling industrial delta robots relying on ROS2 open-source framework. The process of creating a valid description for general delta robots is detailed and the extension of this description for simulation with Gazebo simulator is demonstrated. A simple path planner for delta robots is developed, while the methods for analysing the kinematics are outlined. The proposed approach is evaluated through simulation of two commercial industrial delta robots.

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Modelling and Simulation of Industrial Delta Robots in ROS2 and Gazebo

  • 会议论文

  • 发表日期：

    2025年

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  • Konstantinos Kokkalis,
  • Fotios K. Konstantinidis,
  • Georgios Tsimiklis,
  • Angelos Amditis,
  • Panayiotis Frangos

摘要

This work presents a novel approach for modelling industrial delta robots relying on ROS2 open-source framework. The process of creating a valid description for general delta robots is detailed and the extension of this description for simulation with Gazebo simulator is demonstrated. A simple path planner for delta robots is developed, while the methods for analysing the kinematics are outlined. The proposed approach is evaluated through simulation of two commercial industrial delta robots.