Research And Development Of High-speed Delta Robot Motion Control System Based On Machine Vision

With the upgrading of China's industrial structure,more and more robots have appeared in industrial production lines.People are replacing them with monotonous and high-intensity jobs.In the production line of electronics,automobile,food,medicine and other industries,there are many low quality and small objects which need to be tested,sorting,assembling,transferring,packing and so on.The low inertia and high speed Delta robot is used.According to the working characteristics of the Delta robot on the sorting of the workpiece on the conveyor belt,machine vision technology is used to identify and locate the workpiece.The camera internal reference is calibrated first,and the image correction is performed.The algorithm of target object recognition and location is based on the matching method based on shape template.The matching algorithm of image Pyramid template matching is used to optimize the template matching algorithm,and the matching speed is improved.Using the industrial CCD camera to capture the image continuously at a certain frequency,then using the developed detection and recognition algorithm to detect and identify the workpiece on the conveyor belt,and extract the image pixel coordinates of the location of the target.The external parameters of the camera are calibrated,the real-time coordinates of the position of the capture of the target in the robot coordinate system are solved and the results are passed to the trajectory planning algorithm to complete the work of the target work.In the trajectory planning of the robot,a modified trapezoid and deceleration control model with parameter n is used to plan the trajectory of the robot joint space.The experimental results show that,on the premise of the same displacement and maximum acceleration,the trajectory planning method is stable when the stroke is small,and has a higher motion speed when the stroke is larger,which can greatly reduce the mechanical vibration of the robot and optimize the overall operation time.The gripping of the workpiece on the conveyor belt needs to meet the work efficiency of the robot,and to improve the working efficiency of the robot.A motion control algorithm is adopted to coordinate the speed of the conveyer belt and the robot.This algorithm can guarantee the purpose of improving the sorting speed when the work parts are sparse when the workpiece is dense and the working parts on the conveyor belt are sparse.The working characteristics of the servo motor are easy to control and the control precision is high,so as to improve the efficiency of the robot.Finally,the author integrates the algorithm developed into the application software of Delta robot motion control system based on machine vision with.NET Framework as the framework.