Researches On Accuracy Analysis And Improvement Of The Vision-Guided Parallel Robot

Delta parallel robot because of the speed,high precision,inertia and other characteristics,widely uesd in all walks of life.Combined with visual system,expanding the application of the robot.At the same time,the requirements for the accuracy of system are increasing in the process of its application.The paper designs the visual system based on the Delta parallel robot,which is independently developed by our group.The paper completes the design of Look-and-Move monocular vision-guided parallel robot system.In the design process,analyze the factors that affect the accuracy of the system.This paper researches on accuracy analysis and improvement of the control system of the vision-guided parallel robot,including camera calibration,image recognition and positioning,track planning.Firstly,research on camera calibration technology.Through the use of Matlab calibrattion test,analysis of factors affecting the accuracy of calibration.Analysis of commonly used camera calibration methods,found two-dimensional template calibration method only consider the second-order radial distortion.The programming is implemented,consider high-order radial distortion and tangential distortion.Finally,complete the image correction.Secondly,the paper completes target recognition and localization.Research on technologies of image processing,including image filtering,image sharpening,threshold segmentation and dege detection.According to the actual situation,programming to achieve high precision processing methods.Finally,to achieve accurate positioning of the target.Thirdly,complete the improvement of the trajectory of Delta parallel robot.The current S-type acceleration curve and trapezoidal acceleration curve are analyzed.In this paper,a modified trapezoidal acceleration curve is adopted.The Delta parallel robot completed the door-shaped movement path.Finally,the visual-guided parallel robot positioning experiment is realized.This paper,using the computer and DPS joint control of the robot.According to the method of hand-eye calibration,the experiment of robot hand-eye calibration is completed.Complete the target positioning experiment,and the error analysis.