CAJ | 학술논문

Delta并联机器人是最典型的空间三自由度移动的并联机构，其在3C电子产品行业、食品包装行业、生物制药行业均得到了广泛的应用。主要以Delta并联机器人为研究对象，通过视觉系统定位物体的位姿，再结合传送带编码器的位置反馈信息，计算出物体在机器人坐标系下面的实时位姿。实验结果表明，机器人在位置模式下，通过改进后的PID算法，能预测传送带上物体的位姿，并实时调整自身移动速度和末端位姿来跟踪传送带上的物体，最终实现对目标的动态跟踪抓取。
Delta병련궤기인시최전형적공간삼자유도이동적병련궤구，기재3C전자산품행업、식품포장행업、생물제약행업균득도료엄범적응용。주요이Delta병련궤기인위연구대상，통과시각계통정위물체적위자，재결합전송대편마기적위치반궤신식，계산출물체재궤기인좌표계하면적실시위자。실험결과표명，궤기인재위치모식하，통과개진후적PID산법，능예측전송대상물체적위자，병실시조정자신이동속도화말단위자래근종전송대상적물체，최종실현대목표적동태근종조취。
The Delta parallel robot is the most typical space moving parallel mechanism which has three degree of freedom .It is widely used in 3C electronic products ,food packaging and pharmaceutical packaging .In this paper ,Delta parallel robot was taken as study objective ,the pose of the object was got by machine vision system ,which was coupled with the position feedback information of conveyor encoder ,then the object’s real-time pose in the robot coordinate was calculated .The experiment results show that the robot can predict the object’s pose on the conveyor belt ,adjust its speed and pose by the improved PID algorithm in the position mode ,realize the dynamic tracking fetch of the target finally .