CAJ | 학술논문

针对Delta机器人的运动特点，设计了可实现3自由度运动功能的控制系统，该系统由机械结构模块和机器视觉模块两部分组成。机械结构模块的控制采用 LPC1114处理器，实现手爪三维空间内的移动与开合；机器视觉控制模块采用 LabView 图形化编程语言，可视化编程减少了编程时间，对各部分程序进行了相应的介绍。机械结构模块的控制与机器视觉模块的控制相结合，提高了 Delta 机器人的运动控制精度。
침대Delta궤기인적운동특점，설계료가실현3자유도운동공능적공제계통，해계통유궤계결구모괴화궤기시각모괴량부분조성。궤계결구모괴적공제채용 LPC1114처리기，실현수조삼유공간내적이동여개합；궤기시각공제모괴채용 LabView 도형화편정어언，가시화편정감소료편정시간，대각부분정서진행료상응적개소。궤계결구모괴적공제여궤기시각모괴적공제상결합，제고료 Delta 궤기인적운동공제정도。
In view of the motion properties of Delta robot,the control system applicable to motion function of 3 de-grees of freedom is designed in the paper,which consists of mechanical structure module and robot vision module.The me-chanical structure module can be controlled by LPC1114 processor in order to realize movement,opening,and closing with-in the paw 3D space;robot vision module adopts LabView graphical programming language,which can shorten the program-ming time and contain corresponding introduction to each program.Combination of mechanical structure module and robot vision module can improve motion control precision of Delta robot.