Research On Visual-based Delta Parallel Robot Trajectory Control Strategy

With the large-scale use of flexible automation production lines,industrial robots in the production line applications in the rapid development.Delta robot is widely used in sorting,packaging,crawling and assembling,because of its fastness,stability and accuracy.Although the research and application of parallel robots in China are developing rapidly,there are still some technical and application problems which mainly focus on the following three aspects: tracking error control,dynamic performance control,human-computer interaction control.Therefore,this paper treats Delta parallel robot as the research object to complete the following aspects of the work.(1)According to the nonlinear coupling structure of Delta parallel robot,a high precision trajectory error control strategy is designed and put forward.The algorithm of spatial linear circular interpolation of Delta parallel robot is completed and simulated by Matlab software.And the performance test about the physical prototype is carried outto verify the effectiveness of the control strategy.(2)The use of strereo vision space positioning technology to design non-contact teaching programming;non-contact teaching programming proposed on this paper more quickly and secure compare to the traditional contact teaching programming and teaching box programming.Achieving a more Efficient teaching programming mode in the human-computer interaction control to achieve the robot's intelligent and efficient.(3)The robot trajectory simulation analysis and control are realized by designing the Delta parallel robot software control platform.At the same time,the host software system,the physical prototype system and the communication connection system are constructed to realize the physical simulation integration.The simulation results can be observed in the upper computer,and real-time access to the slave control system data to achieve comparative analysis to verify the effectiveness of the software control platform.In this paper,the Delta parallel robot trajectory control system is designed,and the non-contact teaching programming is realized by binocular space positioning technique.The spatial trajectory is optimized and analyzed by the operation analysis to obtain the pulse sequence of the robot trajectory to complete the robot trajectory control.This paper has improved the programming method of trajectory control algorithm and human-computer interaction,and owns certain practical application value.