R&D Of Vision Control System For Delta Robot

This thesis is about the research and development work of a vision controlsystem, which is the National863Program “a High Speed Packaging Robot System”.The whole control system is composed of vision module and motion control module.The vision module is based on “CCD Camera+Image Acquisition Card”, the motioncontrol module is based on “Motion controller+Servo Driver+Servo Motor”. Themain research contents and contributions are summarized as follows:Analyzed the functional requirements of the vision control system about the HighSpeed Packaging Robot, and designed the whole control program. Using amonocular vision system with the camera fixed in the workplace to guide therobot picking moving objects.A smart method based on planar template was presented to calibrate the visionsystem.Design the image processing flow and the recognition track process of themoving objects. The accurate position of every object can be obtained from theimage through the flow, which concludes image pretreatment, imagesegmentation and image after treatment. A decision-making algorithm of avoidmulti-objects repeat recognition has been proposed in the recognition trackprocess of the moving objects.Solved the key technologies of the position servo control system, includingpositive solution and inverse solution of the robot, motion planning, velocityplanning of conveyer belt, grasping position of targets and the task flowdesigning of the whole system.Build the experimental platform and set the key parameters of the vision controlsystem through experiments. It is proved that the chosen scheme of this subject isfeasible. The experiment provides the basis for improving the whole controlsystem.