Research On Control Of Delta Robot Dynamic Grasping System Based On NJ Motion Controller

Delta robot is the most typical spatial three degree of freedom mobile parallel mechanism,which has the characteristics of high moving speed,accurate positioning,high efficiency,light weight and so on.It has been widely used in 3C electronic products,food packaging,biopharmaceutical and 3D printing industries.With the improvement of people's living standards,the improvement of product quality and the increase of demand,indirectly promote the development of robotics.In order to improve the accuracy and speed of delta robot's dynamic grasping,a kind of delta robot's grasping control system based on NJ motion controller is designed.By adopting Omron NJ motion controller and ether cat internal high-speed bus,the delta robot's motion control and external motion logic control are seamlessly connected,and the integrated control is realized.The robot tracks the moving objects on the conveyor belt dynamically,locates the position and pose of the objects through the vision detection system,and then calculates the real-time position and pose of the objects under the robot coordinate system combined with the position data fed back by the conveyor belt encoder.In the position mode,the robot can predict the position and pose of the objects on the conveyor belt through the improved tracking algorithm,and adjust its own moving speed and end position and pose in real time to track the moving objects on the conveyor belt.The moving track uses the "door" type arc transition mode to plan the global speed and acceleration reasonably,and uses the open-loop control Mode of production.The delta robot uses the closed-loop control method to track the moving track of the grabbing target,and the motion PID algorithm adjusts the speed of X and Y directions,which realizes the accurate tracking and fast grabbing of the grabbing target online.