Aspects concerning the modular development of a robotic system used in waste sorting

The paper presents the possible outcomes of a robotic system composed of three different robots, (Cartesian, cylindrical and spherical robot) that work in the same cell. Alongside the various combination possibilities that are determined, the mathematical model is also presented in the form of transformation matrices of the given robots. The CAD models of specific versions and block diagram of the robotic system are also presented. (paper)