Configuration and control of the Laser-Tau robot system for high accuracy laser applications

Abstract: This Master Thesis aims to show an approach to the design of parallel robots,specifically the development of its kinematics. To do this, screw theory will be used, focusing on its theoretical bases and taking it later to practice. First, a theoretical definition of the inverse and forward kinematics of a parallel robot is carried out. Subsequently, algorithms are generated in Python that verify that the theory works and that it is useful to describe the kinematics of the robot. Finally, these kinematic solutions found are then validated by simulation through the program V-REP.